Publication

Adaptive Path Planning in Three-Dimensional Wireless Sensor Networks for Micro Aerial Vehicle - Assisted Localization

Authors:: M. Sc. Alina Rubina
Prof. Dr.-Ing. habil. Andreas Mitschele-Thiel
Typ:: Conferences
Status:: accepted
Date of publication: 09/30/2019
Abstract:: A mobile anchor-assisted localization ensures efficient positioning while
reducing energy and time consumption for the overall network. To achieve
this a suitable trajectory for a mobile anchor is of great importance. In
our work, we assume a micro aerial vehicle (MAV) as the mobile anchor. MAVs
provide many practical benefits and easier access to dangerous areas is one
of them.

In this paper, we propose a novel path planning algorithm - 3D Adaptive
Scan. It only covers the area where the unlocalized wireless nodes are
present. In this way, the localization time is reduced by half when
compared to the state-of-the-art algorithms. Moreover, we use a novel
evaluation metric, namely trajectory efficiency that takes into account
localization time, error and ratio. The obtained results indicate that our
3D Adaptive Scan guarantees the efficiency of around 70% outperforming
its competitors by at least 30%
Additional Info:: pages 39-42 (4)

TU Ilmenau (Homelink)