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rigid graph-based three-dimension localization algorithm for wireless sensor networks

Journal of Systems Engineering and Electronics 2018年第5期29卷 927-936页

作者： LUO Xiaoyuan ZHONG Wenjing LI Xiaolei GUAN Xinping School of Electrical Engineering Yanshan University Department of Automation Shanghai Jiao Tong University

This paper investigates the node localization problem for wireless sensor networks in three-dimension space. A distributed localization algorithm is presented based on the rigid graph. Before location, the communication radius is adaptively increasing to add the localizability. The localization process includes three steps: firstly, divide the whole globally rigid graph into several small rigid blocks; secondly, set up the local coordinate systems and transform them to global coordinate system; finally, use the quadrilateration iteration technology to locate the nodes in the wireless sensor network. This algorithm has the advantages of low energy consumption, low computational complexity as well as high expandability and high localizability. Moreover, it can achieve the unique and accurate localization. Finally, some simulations are provided to demonstrate the effectiveness of the proposed algorithm.

关键词： wireless sensor network localization rigid graph quadrilateration

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A cluster positioning architecture and relative positioning algorithm based on pigeon fock bionics

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Satellite Navigation 2023年第1期4卷 92-112,I0004页

作者： Zhongliang Deng Hang Qi Chengfeng Wu Enwen Hu Runmin Wang Beijing University of Posts and Telecommunications Beijing 100876China Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory Beijing 100074China.

Unmanned clusters can realize collaborative work,fexible confguration,and efcient operation,which has become an important development trend of unmanned platforms.Cluster positioning is important for ensuring the normal operation of unmanned clusters.The existing solutions have some problems such as requiring external system assistance,high system complexity,poor architecture scalability,and accumulation of positioning errors over time.Without the aid of the information outside the cluster,we plan to construct the relative position relationship with north alignment to adopt formation control and achieve robust cluster relative positioning.Based on the idea of bionics,this paper proposes a cluster robust hierarchical positioning architecture by analyzing the autonomous behavior of pigeon focks.We divide the clusters into follower clusters,core clusters,and leader nodes,which can realize fexible networking and cluster expansion.Aiming at the core cluster that is the most critical to relative positioning in the architecture,we propose a cluster relative positioning algorithm based on spatiotemporal correlation information.With the design idea of low cost and large-scale application,the algorithm uses intra-cluster ranging and the inertial navigation motion vector to construct the positioning equation and solves it through the Multidimensional Scaling(MDS)and Multiple Objective Particle Swarm Optimization(MOPSO)algorithms.The cluster formation is abstracted as a mixed direction-distance graph and the graph rigidity theory is used to analyze localizability conditions of the algorithm.We designed the cluster positioning simulation software and conducted localizability tests and positioning accuracy tests in diferent scenarios.Compared with the relative positioning algorithm based on Extended Kalman Filter(EKF),the algorithm proposed in this paper has more relaxed positioning conditions and can adapt to a variety of scenarios.It also has higher relative positioning accuracy,and the error does not accumulate over time.

关键词： Cluster positioning architecture Cluster relative positioning Multidimensional scaling Multiple objective particle swarm optimization Unmanned aerial vehicles positioning Localizability analysis rigid graph

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Control of Multi-Agent Formation with Optimally Persistent graph

Control of Multi-Agent Formation with Optimally Persistent G...

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第24届中国控制与决策会议

作者： Shikai Shao 1 , Xiaoyuan Luo 1 , Tao Jin 2 , Xinping Guan 1,3 1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao, 066004, China 2. College of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China 3. School of Electronic and Electric Engineering, Shanghai Jiangtong University, Shanghai, 200240, China

In this paper, a distributed control law for optimally persistent formation of leader-follower multi-agent systems is presented. According to the characteristic of optimally persistent formation, each follower, except the one which follows the leader, can only communicate with its two precedent neighbors. Based on the state information received from neighbors, a scalable gradient-like control law is designed to control the motion of the formation. Through using this control law, any three agents that are not in a line can achieve a stable triangular persistent formation. Extend this implementation to the whole formation, thus each agent will keep desired distance constraints to its two precedent neighbors. Finally, simulation examples are illustrated to show the efficiency of the proposed control law.

关键词： Persistent formation Multi-agent systems rigid graph Leader-follower

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