Research Article
Duty Cycle Scheduling in Wireless Sensor Networks Using an Exploratory Strategy-Directed MADDPG Algorithm
Liangshun Wu,
Peilin Liu,
Junsuo Qu,
Cong Zhang,
Bin Zhang*
Issue:
Volume 12, Issue 1, June 2024
Pages:
1-12
Received:
18 January 2024
Accepted:
29 January 2024
Published:
28 February 2024
Abstract: This paper presents an in-depth study of the application of Multi-Agent Deep Deterministic Policy Gradient (MADDPG) algorithms with an exploratory strategy for duty cycle scheduling (DCS) in the wireless sensor networks (WSNs). The focus is on optimizing the performance of sensor nodes in terms of energy efficiency and event detection rates under varying environmental conditions. Through a series of simulations, we investigate the impact of key parameters such as the sensor specificity constant α and the Poisson rate of events on the learning and operational efficacy of sensor nodes. Our results demonstrate that the MADDPG algorithm with an exploratory strategy outperforms traditional reinforcement learning algorithms, particularly in environments characterized by high event rates and the need for precise energy management. The exploratory strategy enables a more effective balance between exploration and exploitation, leading to improved policy learning and adaptation in dynamic and uncertain environments. Furthermore, we explore the sensitivity of different algorithms to the tuning of the sensor specificity constant α, revealing that lower values generally yield better performance by reducing energy consumption without significantly compromising event detection. The study also examines the algorithms' robustness against the variability introduced by different event Poisson rates, emphasizing the importance of algorithm selection and parameter tuning in practical WSN applications. The insights gained from this research provide valuable guidelines for the deployment of sensor networks in real-world scenarios, where the trade-off between energy consumption and event detection is critical. Our findings suggest that the integration of exploratory strategies in MADDPG algorithms can significantly enhance the performance and reliability of sensor nodes in WSNs.
Abstract: This paper presents an in-depth study of the application of Multi-Agent Deep Deterministic Policy Gradient (MADDPG) algorithms with an exploratory strategy for duty cycle scheduling (DCS) in the wireless sensor networks (WSNs). The focus is on optimizing the performance of sensor nodes in terms of energy efficiency and event detection rates under v...
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Research Article
Indoor Positioning of AGVs Based on Multi-Sensor Data Fusion Such as LiDAR
Wen-liang Zhu,
Shu-kai Guo*
Issue:
Volume 12, Issue 1, June 2024
Pages:
13-22
Received:
19 February 2024
Accepted:
29 February 2024
Published:
20 March 2024
Abstract: In recent years, with the rapid growth in technology and demand for industrial robots, Automated Guided Vehicles (AGVs) have found widespread application in industrial workshops and smart logistics, emerging as a global hot research topic. Due to the volatile and complex working environments, the positioning technology of AGV robots is of paramount importance. To address the challenges associated with AGV robot positioning, such as significant accumulated errors in wheel odometer and Inertial Measurement Unit (IMU), susceptibility of Ultra Wide Band (UWB) positioning accuracy to Non Line of Sight (NLOS) errors, as well as the distortion points and drift in point clouds collected by LiDAR during robot motion, a novel positioning method is proposed. Initially, Weighted Extended Kalman Filter (W-EKF) is employed for the loosely coupled integration of wheel odometer and Ultra Wide Band (UWB) data, transformed into W-EKF pose factors. Subsequently, appropriate addition of W-EKF factors is made during the tight coupling of pre-integrated Inertial Measurement Unit (IMU) with 3D-LiDAR to counteract the distortion points, drift, and accumulated errors generated by LiDAR, thereby enhancing positioning accuracy. After experimentation, the algorithm achieved a final positioning error of only 6.9cm, representing an approximately 80% improvement in positioning accuracy compared to the loosely coupled integration of the two sensors.
Abstract: In recent years, with the rapid growth in technology and demand for industrial robots, Automated Guided Vehicles (AGVs) have found widespread application in industrial workshops and smart logistics, emerging as a global hot research topic. Due to the volatile and complex working environments, the positioning technology of AGV robots is of paramount...
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