An optimization algortihm for relative positioning systems based on Harmony Search

The computation of relative positions among mobile objects is a useful information when are not constrained to a specific environment and they cannot depend on an external infrastructure to obtain their location information. The resolution of this kind of problems cannot be treated separately for each object. Thus, it is necessary to use ranging mechanisms that allow to simultaneously measuring the spatial relations among objects. After that, a positioning algorithm is used whose complexity depends on the number of observations made and the precision required in the system. Usually, optimization algorithms based on linear and nonlinear programming methods are used to compute the positions by improving the solution in the neighborhood of a starting point. Last years, a meta-heuristic algorithm approach called Harmony Search, has been considered for engineering optimization problems because imposes fewer mathematical requirements compared to traditional procedures. In this paper, the performance of Harmony Search algorithm to obtain the relative positions among a set of objects is evaluated, by using the temporal equations and measurements performed by a ranging mechanism called Simultaneous Round Trip-Time-of-Flight.