A locating method for ubiquitous robots based on wireless sensor networks

Applications of Ubiquitous Robot (UR) based on wireless sensor networks usually require the location information of all sensor nodes deployed on the sensor field. For this, every sensor node should be aware of its own geographical location, which forces us to pay an expensive cost and make the size of sensor node larger. In this paper, we propose a cheap solution for positioning all sensor nodes without necessitating all sensor nodes in the field equipped with GPS modules. In our method, only some sensor nodes equipped with GPS modules are initially deployed, and the other nodes without GPS modules will find out their locations through communications to GPS nodes. To show effectiveness of our method, we carried out a computer simulation, and observed that all nodes could successfully recognize their locations, which can considerably save the price for implementing wireless sensor networks.