DocumentCode :
52876
Title :
Distributed Sensor Fusion for Scalar Field Mapping Using Mobile Sensor Networks
Author :
Hung Manh La ; Weihua Sheng
Author_Institution :
Center for Adv. Infrastruct. & Transp., Rutgers Univ., Piscataway, NJ, USA
Volume :
43
Issue :
2
fYear :
2013
fDate :
Apr-13
Firstpage :
766
Lastpage :
778
Abstract :
In this paper, autonomous mobile sensor networks are deployed to measure a scalar field and build its map. We develop a novel method for multiple mobile sensor nodes to build this map using noisy sensor measurements. Our method consists of two parts. First, we develop a distributed sensor fusion algorithm by integrating two different distributed consensus filters to achieve cooperative sensing among sensor nodes. This fusion algorithm has two phases. In the first phase, the weighted average consensus filter is developed, which allows each sensor node to find an estimate of the value of the scalar field at each time step. In the second phase, the average consensus filter is used to allow each sensor node to find a confidence of the estimate at each time step. The final estimate of the value of the scalar field is iteratively updated during the movement of the mobile sensors via weighted average. Second, we develop the distributed flocking-control algorithm to drive the mobile sensors to form a network and track the virtual leader moving along the field when only a small subset of the mobile sensors know the information of the leader. Experimental results are provided to demonstrate our proposed algorithms.
Keywords :
mobile radio; sensor fusion; autonomous mobile sensor networks; distributed consensus filter; distributed flocking-control algorithm; distributed sensor fusion algorithm; iterative method; noisy sensor measurements; scalar field mapping; weighted average consensus filter; Algorithm design and analysis; Estimation; Heuristic algorithms; Mobile communication; Sensor fusion; Time measurement; Cooperative sensing; flocking control; mobile sensor networks (MSNs); sensor fusion;
fLanguage :
English
Journal_Title :
Cybernetics, IEEE Transactions on
Publisher :
ieee
ISSN :
2168-2267
Type :
jour
DOI :
10.1109/TSMCB.2012.2215919
Filename :
6327372
Link To Document :
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