Distributed localization with mixed measurements under switching topologies

作     者：Lin, Zhiyun Han, Tingrui Zheng, Ronghao Yu, Changbin 

作者机构：Hangzhou Dianzi Univ Hangzhou 310018 Zhejiang Peoples R China Zhejiang Univ Coll Elect Engn State Key Lab Ind Control Technol Hangzhou Zhejiang Peoples R China Zhejiang Prov Marine Renewable Energy Elect Equip Hangzhou Zhejiang Peoples R China Australian Natl Univ Canberra ACT 2601 Australia NICTA Ltd Canberra ACT 2601 Australia 

出 版 物：《AUTOMATICA》 (自动学)

年 卷 期：2017年第76卷

页      面：251-257页

核心收录：

学科分类：0711[理学-系统科学] 0808[工学-电气工程] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 0701[理学-数学] 071101[理学-系统理论] 

基　　金：Zhejiang Open Foundation of the Most Important Subjects Zhejiang Provincial Natural Science Foundation of China [LR13F030002] Fundamental Research Funds for the Central Universities, China [110201*172210151] Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai [Scip201504] 

主　　题：Distributed localization Sensor network Robot network 

摘      要：This paper investigates the distributed localization problem of sensor networks with mixed measurements. Each node holds a local coordinate system without a common orientation and is capable of measuring only one type of information (either distance, bearing, or relative position) to near-by nodes. Thus, three types of measurements are mixed in the sensor networks. Moreover, the communication topologies in the sensor networks may be time-varying due to unreliable communications. This paper develops a fully distributed algorithm called BCDL (Barycentric Coordinate based Distributed Localization) where each node starts from a random initial guess about its true coordinate and converges to the true coordinate via only local node interactions. The key idea in BCDL is to establish a unified linear equation constraints for the sensor coordinates by using the barycentric coordinates of each node with respect to its neighbors though the sensor nodes may have different types of measurements. Then a distributed iterative algorithm is proposed to solve the linear equations under time-varying communication networks. A necessary and sufficient graphical condition is obtained to ensure global convergence of the distributed, algorithm. (C) 2016 Elsevier Ltd. All rights reserved.