A Fine-Grained Localization Scheme of Wireless Sensor Networks Using the Multi-Energy Level Effect of Mobile Robot

The issue of node location and energy consumption in the sensor network is very important Because of the rapid development of robot technology; it is possible to use a mobile robot for fine-grained localization. Mobile robot can broadcast multi-energy-level signals to realize the estimation of accurate location of the unknown nodes and collect the related data. The unknown node receives the broadcasted message from the mobile robot, and then the unknown node will compare the power of received information to the power level of the mobile robot, because the power of energy level of the mobile robot increases from far to near. Unknown nodes can use the comparison of the power of energy level to judge the position of the mobile robot and in which energy level it is. The simulation results show that the proposed accurate positioning algorithm can well achieve our desired result.