UWB Base Station Cluster Localization for Unmanned Ground Vehicle Guidance

Figure 13

Performance of DPSO. (a) The coverage rate changes with the increase of station groups. (b–d) The corresponding solutions provided by DPSO, with 48, 49, and 50 station groups, respectively. The yellow regions are covered by UWB clusters. (a) Performance of DPSO. (b) Group number = 48. (c) Group number = 49. (d) Group number = 50.

(a)

(b)

(c)

(d)