刘贞, 王祁, 丁明理. 基于多目标群决策协调技术的WSN移动节点导航方法[J]. 机器人, 2009, 31(4): 335-341,350..
LIU Zhen, WANG Qi, DING Ming-li. WSN Mobile Node Navigation Method Based on Multi-Objective Group Decision Techniques. ROBOT, 2009, 31(4): 335-341,350..
Abstract：To implement mobile node autonomous navigation in WSN applications efficiently with low cost,an autonomous navigation method for mobile nodes based on RSSI(received signal strength indicator) and network topology is presented.A distributed navigation subnetwork consists of some beacon nodes,and each node has its independent navigation target and can make the decision in favor of itself.Decision information of several nodes is fused with multi-objective decision coordination technique to obtain final navigation control strategy,and then optimal control of the navigation system can be achieved.Distributed computing technology is used in the navigation algorithm,and most of data processing tasks are implemented by each beacon node,so design complexity and hardware cost of the robot can be effectively reduced.The validity of the system is fully proved by both the simulation and the experimental results.
[1] Baggio A,Langendoen Koen.Monte Carlo localization for mobile wireless sensor networks[J]. Ad Hoc Networks,2008,6(5):718～733.
[2] Koutsonikolas D,Das S M,Hu Y C.Path planning of mobile landmarks for localization in wireless sensor networks[J]. Computer Communications,2007,30(13):2577～2592.
[3] Sit T C H,Liu Z,Ang Jr M H,et al.Multi-robot mobility enhanced hop-count based localization in ad hoc networks[J]. Robotics and Autonomous Systems,2007,55(3):244～252.
[4] Kortenkamp D,Weymouth T.Topological mapping for mobile robots using a combination of sonar and vision sensing[A]. Proceedings of the National Conference on Artificial Intelligence[C]. Menlo Park,CA,USA:AAAI,1994.979～984.
[5] Fox D.Markov Localization:A Probabilistic Framework for Mobile Robot Localization and Navigation[D]. Germany:University of Bonn,1998.
[6] Dellaert E Fox D,Burgard W,et al.Monte Carlo localization for mobile robots[A]. Proceeding of the IEEE International Conference on Robotics and Automation[C]. Piscataway,NJ,USA:IEEE,1999.1322～1328.
[7] Simmon R,Koenig S.Probabilistic robot navigation in partially observable environmants[DB/OL], http://dli.iiit.ac.in/ijcai/IJCAI-95-VOL2/PDF/009.pdf,1995/2008.
[8] Rappaport T S.Wireless Communications:Principles and Practice (2nd Edition)[M]. New Jersey,USA:Prentice Hall PTR,2002.69～138.
