Location Estimation of a Remotely Controlled Robot using an RDV-HOP Algorithm in Wireless Sensor Networks

摘要

In this study, an RDV-HOP algorithm that improves the DV-HOP algorithm is proposed to estimate the self-location of a remotely controlled robot and a simulation of this algorithm is performed by applying various indoor environments as its model. Regarding its performance, the number of sensor nodes that represents performance improvements is less than 20% as the effective distance is less than 40%. Also, as the effective distance is a range of 40~80%, it shows the largest decrease in location errors. Also, in the comparison of the results with the conventional DV-HOP algorithm, the proposed algorithm decreases the average absorption of 52.2% maximum and the distance error of 121.89% maximum.