EXTENDED MONTE CARLO LOCALIZATION ALGORITHM FOR MOBILE SENSOR NETWORKS

A real-world localization system for wireless sensor networks that adapts for mobility and irregular radio propagation model is considered. The traditional range-based techniques and recent range-free localization schemes are not well competent for localization in mobile sensor networks, while the probabilistic approach of Bayesian filtering with particle-based density representations provides a comprehensive solution to such localization problem. Monte Carlo localization is a Bayesian filtering method that approximates the mobile node's location by a set of weighted particles. In this paper, an enhanced Monte Carlo localization algorithm-Extended Monte Carlo Localization (Ext-MCL) is proposed, i.e., the traditional Monte Carlo localization algorithm is improved and extended to make it suitable for the practical wireless network environment where the radio propagation model is irregular. Simulation results show the proposal gets better localization accuracy and higher localizable node number than previously proposed Monte Carlo localization schemes not only for ideal radio model, but also for irregular one.

Application of local Monte Carlo method in neutronics calculation of EAST radial neutron camera

The Local Monte Carlo(LMC)method is used to solve the problems of deep penetration and long time in the neutronics calculation of the radial neutron camera(RNC)diagnostic system on the experimental advanced superconducting tokamak(EAST),and the radiation distribution of the RNC and the neutron flux at the detector positions of each channel are obtained.Compared with the results calculated by the global variance reduction method,it is shown that the LMC calculation is reliable within the reasonable error range.The calculation process of LMC is analyzed in detail,and the transport process of radiation particles is simulated in two steps.In the first step,an integrated neutronics model considering the complex window environment and a neutron source model based on EAST plasma shape are used to support the calculation.The particle information on the equivalent surface is analyzed to evaluate the rationality of settings of equivalent surface source and boundary.Based on the characteristic that only a local geometric model is needed in the second step,it is shown that the LMC is an advantageous calculation method for the nuclear shielding design of tokamak diagnostic systems.

A practical self-localization scheme for mobile robots using sonar sensors

A practical serf-localization scheme for mobile robots is proposed and implemented by utilizing sonar sensors. Specifically, the localization problem is solved by employing Monte Carlo method with a new mechanism proposed to calculate the samples＇ weights; the convergence and veracity of the sample set are guaranteed by the designed resampling and scattering process. The proposed serf-localization algorithm is fully implemented on a specific mobile robot system, and experimental results illustrate that it provides an efficient solution for the kidnapped problem.

GMCL： a robust global localization method for mobile robot

A large sample size is required for Monte Carlo localization （MCL） in multi-robot dynamic environ- ment, because of the ＂kidnapped robot＂ phenomenon, which will locate most of the samples in the regions with small value of desired posterior density. For this problem the crossover and mutation operators in evolutionary computation are introduced into MCL to make samples move towards the regions where the desired posterior density is large, so that the sample set can represent the density better. The proposed method is termed genetic Monte Carlo localization （GMCL）. Application in robot soccer system shows that GMCL can considerably reduce the required number of samples, and is more precise and robust in dynamic environment.