Multilevel localization for Mobile Sensor Network platforms

For a set of mobile sensor network, a precise localization is required in order to maximize the utilization of mobile sensor network. As well, mobile robots also need a precise localization mechanism for the same reason. In this paper, we showed a combination of various localization mechanisms. Localization can be classified in three big categories: long distance localization with low accuracy, medium distance localization with medium accuracy, and short distance localization with high accuracy. In order to present localization methods, traditional map building technologies such as grid maps or topological maps can be used. We implemented mobile sensor vehicles and composed mobile sensor network with them. Each mobile sensor vehicles act as a mobile sensor node with the facilities such as autonomous driving, obstacle detection and avoidance, map building, communication via wireless network, image processing and extensibility of multiple heterogeneous sensors. For localization, each mobile sensor vehicle has abilities of the location awareness by mobility trajectory based localization, RSSI based localization and computer vision based localization. With this set of mobile sensor network, we have the possibility to demonstrate various localization mechanisms and their effectiveness. In this paper, the preliminary result of sensor mobility trail based localization and RSSI based localization will be presented.