Multi-hop Localization Method Based on Tribes Algorithm
In many applications of Swarm Robotic Systems (SRS) or Wireless Sensor Networks (WSN), it is necessary to know the position of its devices. A straightforward solution should be endowing each device, i.e. a robot or a sensor, with a Global Positioning Syst
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Center of Electronics, Communications and Information Technology, Admiral Wandenkolk Instruction Center, Brazilian Navy, Rio de Janeiro, Brazil [email protected] 2 Department of Electronics Engineering and Telecommunication, Engineering Faculty, State University of Rio de Janeiro, Rio de Janeiro, Brazil [email protected] 3 Department of System Engineering and Computation, Engineering Faculty, State University of Rio de Janeiro, Rio de Janeiro, Brazil [email protected] 4 Department of Electrical Engineering, Federal University of Parana (UFPR), Curitiba, PR, Brazil 5 Industrial and Systems Engineering Graduate Program, Pontifical Catholic University of Parana (PUCPR), Curitiba, PR, Brazil
Abstract. In many applications of Swarm Robotic Systems (SRS) or Wireless Sensor Networks (WSN), it is necessary to know the position of its devices. A straightforward solution should be endowing each device, i.e. a robot or a sensor, with a Global Positioning System (GPS) receiver. However, this solution is often not feasible due to hardware limitations of the devices, or even environmental constraints present in its operational area. In the search for alternatives to the GPS, some multi-hop localization methods have been proposed. In this paper, it is proposed a novel multi-hop localization method based on Tribes algorithm. The results, obtained through simulations, shows that the algorithm is effective in solving the localization problem, achieving errors of the order of 0.01 m.u. in an area of 100 × 100 m.u.. The performance of the algorithm was also compared with a previous PSO-based localization algorithm. The results indicate that the proposed algorithm obtained a better performance than the PSO-based, in terms of errors in the estimated positions.
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Introduction
In some distributed systems, such as swarm robotic systems (SRS) or wireless sensor networks (WSN), it is often required that each device, i.e. a robot or a sensor, be aware of its own position. In a SRS, for example, the positioning information of a robot is needed to perform auto-formation tasks, where each robot must position itself within a pre-defined formation, or even self-healing tasks, where the robots reorganize themselves in order to restore the swarm formation that eventually has been undone [1]. In the same way, in a WSN, c Springer International Publishing Switzerland 2016 O. Gervasi et al. (Eds.): ICCSA 2016, Part V, LNCS 9790, pp. 156–170, 2016. DOI: 10.1007/978-3-319-42092-9 13
Multi-hop Localization Method Based on Tribes Algorithm
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the information of the position of each sensor is needed to make it possible to locate the measured events. The environmental monitoring of rivers, lakes and forests [2,3], or even nuclear waste stored underwater [4], are examples where it is necessary to know the sensor’s location. Additionally, in a WSN, the sensor’s position information is often needed to allow the execution of location based routing protocols [5], such as the MECN (Minimum Energy Communication Network) [6], SMECN (Small Minimum Ener
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