Research On Algorithm Of Anchor Node Localization In Mobile Wireless Sensor Networks Multi Obstacle Environment

Localization is one of the key supporting technologies in wireless sensor networks(WSNs),the positions of sensor nodes play a crucial role in many application fields.Most of the proposed mobile anchor nodes assisted localization algorithms cannot achieve accurate localization at present;moreover,most of them assume that there is no obstacle in the region of interest.Therefore,propose effective path planning algorithms for mobile anchor nodes to avoid obstacles while providing non-collinear virtual beacons for localization is one of the most important research issues in WSNs.Based on the analysis of typical mobile anchor nodes path planning algorithms in recent years,MBL(ndc)is proposed.Besides,impacts of the mobile anchor node on localization performances are analyzed through theoretical identification and simulations.Then,combining network clustering and obstacle avoidance mechanisms,two mobile anchor nodes path planning algorithms,namely,Single Mobile Anchor node Path Planning algorithm using Network-Density-based Clustering(SMAPP-NDC)and Multiple Mobile Anchor nodes Path Planning algorithm using Network-Density-based Clustering(MMAPP-NDC)are proposed.Each of the two algorithms consists of four phases: Firstly,selects the sensor nodes which have the largest core density among their neighbor nodes as cluster heads according to the distribution information of sensor nodes,and then,calculates their coordinates using the MDS-MAP(P)algorithm;Secondly,employs a global path planning scheme to search for an optimal traverse sequence of cluster heads;Thirdly,designs a local path planning scheme to provide virtual beacons in the shape of regular triangles for localization.Fourthly,localized unknown nodes update as static anchor nodes to help other unknown nodes with localization.Besides,SMAPP-NDC and MMAPP-NDC algorithms employ obstacle avoidance mechanisms to make mobile anchor nodes steer clear of obstacles and provide non-collinear virtual beacons around obstacles.Finally,a series of experiments are taken to evaluate the performances of the proposed algorithms using MATLAB.Simulation results indicate that the SMAPP-NDC and MMAPP-NDC algorithms could make full use of the distribution information of sensor nodes and effectively solve localization problems in obstacle environment while achieving better localization performances compared with the MBL(ndc)algorithm.