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首页> 外文期刊>Wireless Networks >Non-line-of-sight error mitigating algorithms for transmitter localization based on hybrid TOA/RSSI measurements
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Non-line-of-sight error mitigating algorithms for transmitter localization based on hybrid TOA/RSSI measurements

机译：基于混合TOA / RSSI测量的发射机定位的非瞄准误差减轻算法

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摘要

Rendezvous control of multiple robots without losing network connectivity has important implications in multi-robot system including formation control, coordinated task assignments, and cooperative robotic missions. This paper introduces a new coordinate-free, bearing-based algorithm to enable rendezvous of distributed mobile robots at any designated leader robot node using hierarchical tracking of wireless network topology. An assumption is made that the robot can only sense and communicate with their neighbors (i.e., local sensing). The proposed approach preserves connectivity during the rendezvous task, adapts to dynamic changes in the network topology (e.g., losing or re-gaining a communication link), and is tolerant of mobility faults in the robots. We theoretically analyze the proposed algorithm and experimentally demonstrate the approach through simulations and extensive field experiments. The results indicate that the method is effective in a variety of realistic scenarios in which the robots are distributed in a cluttered environment.
机译：在没有失去网络连接的情况下对多个机器人的Rendezvous控制在包括形成控制，协调任务分配和合作机器人任务的多机器人系统中具有重要意义。本文介绍了一种新的无坐标，基于轴承的算法，可以使用无线网络拓扑的分层跟踪在任何指定的领导者机器人节点中为分布式移动机器人进行集合。假设机器人只能感测和与其邻居（即，本地感测）沟通。所提出的方法在Rendezvous任务期间保留连接，适应网络拓扑的动态变化（例如，丢失或重新获得通信链路），并且可以容忍机器人中的移动性故障。理论上，从理论上分析所提出的算法，并通过模拟和广泛的现场实验进行实验证明这种方法。结果表明，该方法在各种现实场景中是有效的，其中机器人分布在杂乱的环境中。

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