在WSN(Wireless Sensor Network)中，Sensor定位是一個非常重要的議題，Sensors位置資訊越精準對於如物體追蹤，資料繞送，覆蓋區域偵測等問題越有幫助，在文獻中已有許多的方法被提出，以GPS(Global Positioning System )定位來提供精確位置資訊，其方式雖然簡單但是硬體成本過於昂貴。而近年來有人提出使用具有精確位置資訊(如裝設全球定位系統GPS)的 Mobile Anchor移動以提供或改善其他Sensors位置資訊的精確度。但是未針對Mobile Anchor的移動方式加以討論，本論文提出一個分散式路徑Guiding 技術, 使Mobile Anchor 依現有Static Sensors 的位置精準程度作有效率的移動，實驗顯示，本論文所提的方法不僅可使Static Sensors快速改善定位的精準度，亦可最佳化Mobile Anchor有效移動，使其單位移動量所改善的位置精準度最大，得到的利益最多。 In the most proposed range-free algorithms, nodes estimate their location using the geometric constraints imposed by the location of mobile anchor. However, there is no discussion on how the mobile anchor moves so that all sensor nodes can obtain the maximal location accuracies under the constraints of time for localization or the remaining energy of the robot. This paper assumes that traditional range-free algorithms have been executed for a certain time period and the deployed sensors are with different location accuracies. We propose path guiding mechanisms that sensor nodes cooperatively guide the mobile anchor moving along an efficient path which can maximize the improvement of location accuracies or minimize the accuracy differences for all sensor nodes in a given WSN. Experimental study reveals that the proposed path guiding mechanisms effectively guide the mobile anchor moving along the efficient path and thereby saves time and energy consumptions for improving or balancing the location accuracies of all sensor nodes.
