Adaptive source localization by a mobile robot using signal power gradient in sensor networks

Yi Sun, Jizhong Xiao, Xiaohai Li, Flavio Cabrera

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

In this paper, we propose a novel approach of signal power gradient by which a robot adaptively searches a location-unknown sensor. While moving, the robot measures signal strength and estimates the direction of power gradient along which the robot moves in the next step. The correctness of estimated direction is analyzed and the probability of correct direction is obtained. Since the robot continuously measures signal strength while moving, it can effectively overcome the motion errors. Simulation results demonstrate that the robot can successfully reach the location-unknown sensor with probability close to one when the signal to noise ratio at the initial location is as low as 0 dB and the standard deviation of motion error is 10% step size.

Original languageEnglish (US)
Title of host publication2008 IEEE Global Telecommunications Conference, GLOBECOM 2008
Pages17-21
Number of pages5
DOIs
StatePublished - Dec 1 2008
Event2008 IEEE Global Telecommunications Conference, GLOBECOM 2008 - New Orleans, LA, United States
Duration: Nov 30 2008Dec 4 2008

Other

Other2008 IEEE Global Telecommunications Conference, GLOBECOM 2008
CountryUnited States
CityNew Orleans, LA
Period11/30/0812/4/08

Fingerprint

Mobile robots
Sensor networks
Robots
Sensors
Signal to noise ratio

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

Cite this

Sun, Y., Xiao, J., Li, X., & Cabrera, F. (2008). Adaptive source localization by a mobile robot using signal power gradient in sensor networks. In 2008 IEEE Global Telecommunications Conference, GLOBECOM 2008 (pp. 17-21). [4697787] https://doi.org/10.1109/GLOCOM.2008.ECP.12
Sun, Yi ; Xiao, Jizhong ; Li, Xiaohai ; Cabrera, Flavio. / Adaptive source localization by a mobile robot using signal power gradient in sensor networks. 2008 IEEE Global Telecommunications Conference, GLOBECOM 2008. 2008. pp. 17-21
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Sun, Y, Xiao, J, Li, X & Cabrera, F 2008, Adaptive source localization by a mobile robot using signal power gradient in sensor networks. in 2008 IEEE Global Telecommunications Conference, GLOBECOM 2008., 4697787, pp. 17-21, 2008 IEEE Global Telecommunications Conference, GLOBECOM 2008, New Orleans, LA, United States, 11/30/08. https://doi.org/10.1109/GLOCOM.2008.ECP.12

Adaptive source localization by a mobile robot using signal power gradient in sensor networks. / Sun, Yi; Xiao, Jizhong; Li, Xiaohai; Cabrera, Flavio.

2008 IEEE Global Telecommunications Conference, GLOBECOM 2008. 2008. p. 17-21 4697787.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Sun Y, Xiao J, Li X, Cabrera F. Adaptive source localization by a mobile robot using signal power gradient in sensor networks. In 2008 IEEE Global Telecommunications Conference, GLOBECOM 2008. 2008. p. 17-21. 4697787 https://doi.org/10.1109/GLOCOM.2008.ECP.12