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 |
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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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