Journal
WIRELESS PERSONAL COMMUNICATIONS
Volume 97, Issue 4, Pages 4921-4931Publisher
SPRINGER
DOI: 10.1007/s11277-017-4747-5
Keywords
Indoor environment; Shadow-edge localization approach; Path planning; Autonomous deployment; Wireless sensor network
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Funding
- National Natural Science Foundation (NNSF) of China [61273078, 61471110]
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To address the problem the sensors were typically deployed in fixed positions, but the robots can be used to calibrate, deploy and maintain the surrounding wireless sensor network (WSN) in disaster relief applications, a novel framework was proposed to obtain a wide coverage of the unknown environment by the sensors, which can help the robot during the disaster recovery activities, for the concurrent deployment and localization of a WSN by means of a mobile robot. During the mission, the robot explored an unknown environment, and was equipped with both proprioceptive sensors, range finders and wireless antennas. Moreover, the robot carried a set of nodes, and it can deploy them while exploring the unknown environment. Variou experimental results showd the proposed algorithm can outperform trilateration method in unknown environment exploration and network coverage problems.
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