An obstacle-tolerant path planning algorithm for mobile-anchor-node-assisted localization

Rong Guei Tsai, Pei-Hsuan Tsai

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

The location information obtained using a sensor is a critical requirement in wireless sensor networks. Numerous localization schemes have been proposed, among which mobile-anchor-node-assisted localization (MANAL) can reduce costs and overcome environmental constraints. A mobile anchor node (MAN) provides its own location information to assist the localization of sensor nodes. Numerous path planning schemes have been proposed for MANAL, but most scenarios assume the absence of obstacles in the environment. However, in a realistic environment, sensor nodes cannot be located because the obstacles block the path traversed by the MAN, thereby rendering the sensor incapable of receiving sufficient three location information from the MAN. This study proposes the obstacle-tolerant path planning (OTPP) approach to solve the sensor location problem owing to obstacle blockage. OTPP can approximate the optimum beacon point number and path planning, thereby ensuring that all the unknown nodes can receive the three location information from the MAN and reduce the number of MAN broadcast packet times. Experimental results demonstrate that OTPP performs better than Z-curves because it reduces the total number of beacon points utilized and is thus more suitable in an obstacle-present environment. Compared to the Z-curve, OTPP can reduce localization error and improve localization coverage.

Original languageEnglish
Article number889
JournalSensors (Switzerland)
Volume18
Issue number3
DOIs
Publication statusPublished - 2018 Mar 16

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trajectory planning
Motion planning
Anchors
sensors
Sensor nodes
Sensors
beacons
Costs and Cost Analysis
Wireless sensor networks
curves
planning

All Science Journal Classification (ASJC) codes

  • Analytical Chemistry
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering

Cite this

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An obstacle-tolerant path planning algorithm for mobile-anchor-node-assisted localization. / Tsai, Rong Guei; Tsai, Pei-Hsuan.

In: Sensors (Switzerland), Vol. 18, No. 3, 889, 16.03.2018.

Research output: Contribution to journalArticle

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