A particle filtering method for wireless sensor network localization with an aerial robot beacon

Author

Caballero, F. ; Merino, L. ; Maza, I. ; Ollero, A.

Author_Institution

Univ. of Seville, Sevilla

fYear

2008

fDate

19-23 May 2008

Firstpage

596

Lastpage

601

Abstract

This paper presents a new method for the 3D localization of an outdoor wireless sensor network (WSN) by using a single flying beacon-node on-board an autonomous helicopter, which is aware of its position thanks to a GPS device. The technique is based on particle filtering and does not require any prior information about the position of the nodes to be estimated. Its structure and stochastic nature allows a distributed computation of the position of the nodes. The paper shows how the method is very suitable for outdoor applications with robotic data-mule systems. The paper includes a section with experiments.

Keywords

Global Positioning System; aerospace robotics; mobile robots; particle filtering (numerical methods); wireless sensor networks; GPS device; aerial robot beacon; autonomous helicopter; distributed computation; particle filtering method; robotic data-mule systems; wireless sensor network localization; Filtering; Global Positioning System; Helicopters; Land vehicles; Mobile robots; Remotely operated vehicles; Robot sensing systems; Robotics and automation; Stochastic processes; Wireless sensor networks;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on

Conference_Location

Pasadena, CA

ISSN

1050-4729

Print_ISBN

978-1-4244-1646-2

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2008.4543271

Filename

4543271