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A New Algorithm for Multiple RF Sources Localization by Means of a Group of Robots

Mehralian, Mohammad Hossein | 2013

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 44511 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Bagheri Shouraki, Saeed
  7. Abstract:
  8. The main subject of this project is to present a new algorithm for multiple RF sources localization by means of a group of robots. This problem (locating multiple radio sources) could be utilized in many domains, either military (passive radars) or civil (search and rescue) uses. Confronting detrimental effects of real environment on wave’s propagation pattern is the main challenge in this problem. Optimized movement of robots has been chosen as basic strategy to overcome this challenge. Presenting a general solution for this problem requires researches in four topics. The first one is simulation of environment and sensor with main objective of evaluating obtained algorithms’ performance. Second is data fusion algorithm that should combine data received from various data sources. In addition this algorithm has the major role in compensation of environment’s detrimental effects in localization process. Third is area coverage to produce an assurance about localization of all sources (with a given minimum power) in a structured and verifiable form. Last but not least is emission source localization path planning including movement management and robots’ routing with aim of precise localization of emission sources. After performing an adequate survey in these sections, an algorithm was designed for each of them and combination of these algorithms resulted in an optimized solution for the problem. Precision of sources localization, speed of process, assurance of percentage of sources detection, and resistance against environment’s disturbances are four criterions that were of concern for optimization of algorithm. Capability of optimization of each one according to user’s decision has been provided
  9. Keywords:
  10. Source Location Analysis ; Area Coverage ; Data Fusion ; Radio Waves Propagation ; Fisher Information Matrix ; Antenna Array

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