1A1-F15 レーザポインタの直線性を考慮したセンサノードの位置推定(ネットワークロボティクス)

概要

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In this paper, we discussed the position estimation method of sensor node by utilizing linearity of laser pointer in robot sensor networks for monitoring environmental information in disaster area. The position estimation of a sensor node is the one of the important issue in sensor networks. Especially, the position of sensor node is affected by the abnormal change in disaster area. So mobile robot estimate the position of sensor node by using laser pointer mounted in sensor node. In proposed method, the mobile robot estimates position of sensor node by using the coordinate data of two irradiated points and the posture of sensor node. Then, the mobile robot calculates the line of between a irradiate point and sensor node. And, the shortest distance in space between two lines shows the position of sensor node. In experimental result, we obtained the accuracy of this position estimation method was relatively high that compare to the localization of the radio field intensity of sensor node.
一般社団法人日本機械学会の論文
2008-06-06