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J. KIMS Technol > Volume 19(4); 2016 > Article
Journal of the Korea Institute of Military Science and Technology 2016;19(4):508-516.
DOI: https://doi.org/10.9766/KIMST.2016.19.4.508   
Reference Node Selection Scheme for Estimating Relative Locations of Mobile Robots
Taejin Ha, Sunyong Kim, Sun Young Park, Daehoon Kwon, Jaehyun Ham, Hyuk Lim
1School of Information and Communications, Gwangju Institute of Science and Technology
2College, Gwangju Institute of Science and Technology
3The 2nd Research and Development Institute, Agency for Defense Development
이동 로봇의 상대위치 추정을 위한 기준노드 선택 기법
하태진, 김선용, 박선영, 권대훈, 함재현, 임혁
1광주과학기술원 정보통신공학부
2광주과학기술원 기초교육학부
3국방과학연구소 제2기술연구본부
Abstract
When GPS signals are not available, a relative localization can be alternatively used to represent the topological relationship between mobile nodes. A relative location map of a network can be constructed by using the distance information between all the pairs of nodes in the network. If a network is large, a number of small local maps are individually constructed and are merged to obtain the whole map. However, this approach may result in a high computation and communication overhead. In this paper, we propose a reference-node selection scheme for relative localization map construction, which chooses a subset of nodes as a reference node that is supposed to construct local maps. The scheme is a greedy algorithm that iteratively chooses nodes with high degree as a reference node until the chosen local maps are successfully merged with a sufficient number of common nodes between nearby local maps. The simulation results indicate that the proposed scheme achieves higher localization accuracy with a reduced computational overhead.
Key Words: Mobile Robots, Multi-Dimensional Scaling, Localization, Relative Location, Greedy Algorithm
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