Multi-Node Localization and Identity Estimation Based Multi-Beacon Searching Algorithm
Keywords:Localization; Multi-node system; Binary search algorithm; Minimum bounded circle algorithm; Centroid algorithm
The accuracy of multi-nodes localization and identity estimation algorithms directly affected the performance of multi-agent systems like WSN, multi-robot, cellular phone and so on. In this paper, a novel algorithm is introduced in order to achieve high accuracy for multi-nodes localization and identity estimation, this algorithm is named multi-beacon searching algorithm. In this algorithm, the concept of the grid is employed for estimating the location and identity of nodes, in which the environment represented by a grid of reference beacons, for each beacon, light-emitting diode (LED) is used. Whereas, each node in the environment is equipped with four LDR sensors which are used to sense the lighting of LEDs according to a proposed searching algorithm. The localization process achieved based on three proposed algorithms: Firstly, a modified binary search algorithm is utilized to estimate the approximate location of the node by a group of neighbor LEDs. Secondly, the accurate localization algorithm is used to find the accurate location of each node by reducing the number of neighbor LEDs. Finaly, two algorithms are introduced to evaluate the location and identification of each node: the centroid algorithm and the minimum bounded circle algorithm. In the minimum bounded circle algorithm, a new faster algorithm called the maxima boundaries convex hull algorithm for polygon convex hull construction is introduced instead of the Chan's algorithm. Several simulation processes have been implemented for testing the proposed algorithms. The obtained results show that the proposed algorithms have very good performance in estimating the accurate localizations of the nodes.
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