distributed algorithms for guiding navigation across a sensor network
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Distributed Algorithms for Guiding Navigation across a Sensor Network. Qun Li, Michael De Rosa, and Daniela Rus Mobicom 2003. Outline. Introduction A distributed algorithm for guiding the navigation of a user Implementation Issues Experiments Conclusion. Introduction. - PowerPoint PPT PresentationTRANSCRIPT
Distributed Algorithms for Guiding Navigation across
aSensor Network
Distributed Algorithms for Guiding Navigation across
aSensor Network
Qun Li, Michael De Rosa, and Daniela RusMobicom 2003Mobicom 2003
Outline• Introduction• A distributed algorithm for guiding
the navigation of a user• Implementation Issues• Experiments• Conclusion
Introduction• To create more versatile information
systems – Adaptive distributed sensor networks
• Hundreds of small sensors• Some limited memory and processing capabilities• Communication capabilities• Multiple sensing capabilities
– To guide the movement of a user• Human • Robot
Introduction (cont.)• Danger detected by the sensors
– Danger zone
• Safest path– With the largest clearance of the
danger zones
Introduction (cont.)
Sensor network
Danger zone
Danger zone
Goal
A distributed algorithm for guiding the navigation of a user• Algorithm 1
– The potential field computation protocol• Pot(i )
– Pot(i)= 1 / hop(j)2 , j : danger
• Algorithm 2– The safest path to goal computation protocol
• Algorithm 3– The navigation guiding protocol
A distributed algorithm for guiding the navigation of a user
(cont.)
A distributed algorithm for guiding the navigation of a user
(cont.)
A distributed algorithm for guiding the navigation of a user
(cont.)
A distributed algorithm for guiding the navigation of a user
(cont.)• Algorithm 1
F
A
E
H C DG B
Message(A, 1,)
Pot(B)= 1 / 12 = 1
Pot(b)=1
A
A distributed algorithm for guiding the navigation of a user
(cont.)• Algorithm 1
F
A
E
H C DG B
Message (A, 2)
Pot(C)= 1 / 22 = 0.25
Pot(b)=1
A
Pot(c)=0.25
A distributed algorithm for guiding the navigation of a user
(cont.)• Algorithm 1
F
A
E
H C DG B
Message (D, 1)
Pot(b)=1+0.25=1.25
A
Pot(c)=0.25+1=1.25
A distributed algorithm for guiding the navigation of a user
(cont.)• Algorithm 2
C
B
A
D
G
F
E
H
K
J
I
L
O
N
M
P
S
R
Q
T Danger zone
Danger zone
Goal1.0204 0.2777
1.04
1.04 0.3125
0.3125
0.3125
0.1511
0.2222
0.2222
0.2222 0.3125
0.3125
0.3125
0.15110.125
1.04
1.04
(Goal ID, My ID, hops, potential)
M, M, 0, 0
A distributed algorithm for guiding the navigation of a user
(cont.)• Algorithm 2
C
B
A
D
G
F
E
H
K
J
I
L
O
N
M
P
S
R
Q
T Danger zone
Danger zone
Goal1.0204 0.2777
1.04
1.04 0.3125
0.3125
0.3125
(Goal ID, My ID, hops, potential)
0.1511
0.2222
0.2222
0.2222 0.3125
0.3125
0.3125
0.15110.125
1.04
1.04
M, M, 0, 0
A distributed algorithm for guiding the navigation of a user
(cont.)• Algorithm 2
C
B
A
D
G
F
E
H
K
J
I
L
O
N
M
P
S
R
Q
T Danger zone
Danger zone
Goal1.0204 0.2777
1.04
1.04 0.3125
0.3125
0.3125
(Goal ID, My ID, hops, potential)
0.1511
0.2222
0.2222
0.2222 0.3125
0.3125
0.3125
0.15110.125
1.04
1.04
M, M, 0, 0
M, N, 1, 0.222
M, I, 1, 0.1511
A distributed algorithm for guiding the navigation of a user
(cont.)• Algorithm 2
C
B
A
D
G
F
E
H
K
J
I
L
O
N
M
P
S
R
Q
T Danger zone
Danger zone
Goal1.0204 0.2777
1.04
1.04 0.3125
0.3125
0.3125
(Goal ID, My ID, hops, potential)
0.1511
0.2222
0.2222
0.2222 0.3125
0.3125
0.3125
0.15110.125
1.04
1.04
M, M, 0, 0
A distributed algorithm for guiding the navigation of a
user (cont.)• Algorithm 3
C
B
A
D
G
F
E
H
K
J
I
L
O
N
M
P
S
R
Q
T Danger zone
Danger zone
Goal
{M}
A distributed algorithm for guiding the navigation of a
user (cont.)• Algorithm 3
C
B
A
D
G
F
E
H
K
J
I
L
O
N
M
P
S
R
Q
T Danger zone
Danger zone
Goal
{M, G, 3, 0.6858, K }{M, L, 3, 0.6858, K }{M, H, 5, 1.2205, H}
A distributed algorithm for guiding the navigation of a
user (cont.)• Algorithm 3
C
B
A
D
G
F
E
H
K
J
I
L
O
N
M
P
S
R
Q
T Danger zone
Danger zone
Goal
Implementation Issues• Only choice high frequency link (1/5)• Wait some time to reduced broadcast• Random waiting time
Implementation Issues
Experiments• Mote MOT300 sensor
Experiments(cont.)
hops
7 X 7 grid network
Experiments(cont.)
optimal
average
worst
Eight different Network topologies
54 experiments
Experiments(cont.)
Experiments(cont.)
Experiments(cont.)Danger zone
goal
Experiments(cont.)Near source
Near obstacle
Experiments(cont.)
Conclusion• Using the sensor network to guide
the movement of a user– Danger zones– Safe path