Title :
A particle filtering method for odor-source localization in Wireless Sensor Network with mobile robot
Author :
Zhang Yong ; Wang Li
Author_Institution :
Tianjin Univ. of Commerce, Tianjin, China
Abstract :
This paper presents a new method for odor source localization using a Wireless Sensor Network (WSN) by means of collaboration with a mobile robot. The method has two steps: an initial estimation of the position of odor-source is obtained centrally by robot and is based on particle filtering. It does not require any prior information about the position of the nodes. In the second stage, the nodes refine their position estimates employing a decentralized information filter. The paper includes several implementation aspects and experimental results.
Keywords :
electronic noses; mobile robots; particle filtering (numerical methods); wireless sensor networks; decentralized information filter; mobile robot; odor source localization; odor source position; particle filtering method; wireless sensor network; Estimation; Information filters; Mobile robots; Particle filters; Robot sensing systems; Wireless sensor networks; Odor Source Localization; Particle Filtering; Wireless Sensor Network;
Conference_Titel :
Control Conference (CCC), 2010 29th Chinese
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-6263-6
