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题名: Probabilistic environmental model based on ultrasonic sensor networks
作者: Li, Liqiang ; Fan GT(范冠廷) ; Zhang YZ(张云洲)
作者部门: 机器人学研究室
关键词: Data handling ; Sensor nodes ; Ultrasonic sensors ; Wireless sensor networks
刊名: Journal of Computational Information Systems
ISSN号: 1553-9105
出版日期: 2012
卷号: 8, 期号:15, 页码:6455-6462
收录类别: EI
产权排序: 2
摘要: A probabilistic grid method algorithm based on wireless sensor network is proposed in order to solve indoor global environmental modeling problem. At first, deploying WSN nodes on the ceiling evenly and processing the discrete data returned by WSN to form a probabilistic grid model within the detection range. In this way, we describe the probability existing obstacles of each grid. When the grids are in overlap detection region, the method of joint probability is used to calculate the probability of obstacles. Finally, a four-dimensional map is built up, that is, three dimensions determine the grid location and the fourth dimension describes the probability of existing obstacles. Simulation result shows that the proposed method can clearly express the obstacles' existing probability for each grid in indoor environment. © 2012 Binary Information Press.
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/10622
Appears in Collections:机器人学研究室_期刊论文

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