INTERNATIONAL JOURNAL OF INNOVATIVE RESEARCH EXPLORER ISSN NO: 2347-6060

Analysis of Energy Efficient Tracking

considered in wireless networks.[4] Moving target In

Wireless Sensor Networkscontinuously reports the position to a central base

station. The open issues in object tracking are
Dr.G.Sridhar1 B.Uma
detecting the Maheshwari
moving
2
objects change in direction,
Prof.ECE,Malla Reddy college of Engineering, Hyderabad PG Scholar JNTUH
varying speed of target precision, prediction
sridharganapathi87@gmail.com Umamaheshwari0414@gmail.com

ABSTRACT:
accuracy and fault tolerance and missing target
When a problem is large or difficult to solve,
recovery. In all tracking process more energy is
computers are often used to find the solution.
consumed for messages are transmission between
Traditional methods of finding the answer may not
the sensors nodes or between the sensor and sink.
be enough. It is in turning to nature that inspiration
In target tracking application the sensor nodes
can be found to solve these difficult problems.
which can sense the target at a particular time are
Nature-inspired algorithms are among the most
kept in active mode, while the remaining nodes are
powerful algorithms for optimization. This paper
to be in inactive mode so to conserve energy until
tends to provide a detailed information of the
the target approaches to nodes. The sensor whose
firefly algorithm in tracking method that can reduce
sensing range contains the queried object will reply
by an accurate estimation of the target location. we
to the query. Clearly, this approach is inefficient
will compare the firefly algorithm with the particle
because a considerable amount of energy will be
swarm optimization. Energy saving is the critical
consumed when the network scale is large or when
issue for object tracking in sensor networks. The
the query rate is high. The power consumption is
number nodes surrounding the mobile target should
one of the most critical issues in object tracking.
be responsible for observing the target to save the
Energy dissipation in sensors is different,
energy consumption and extend the network
depending on the condition of the each sensor.
lifetime. Simulations and results indicate that the
Therefore each sensor must minimize the battery
proposed firefly algorithm is superior to particle
for longevity of network operation. The object
swarm optimization .In particle swarm
tracking algorithm should be designed in such a
optimization the present location of the object and
way that result in good quality tracking with low
by probability best and Global best the future
energy consumption by using the firefly algorithm.
location of the object is determined and energy
consumption is more compared to firefly algorithm This paper aims to introduce the new Firefly
.In firefly algorithm the past, present and future Algorithm and to provide the comparison study of
locations and path of the object is determined, the the FA with PSO algorithms. We will first outline
accuracy is more and the time consumption is less the particle swarm optimization, then formulate the
firefly algorithms and finally give the comparison
in the mobile target.
about the performance of these algorithms. The FA
optimization seems more promising than particle
KEY WORDS: Tracking ,particle swarm
swarm optimization in the sense that FA can deal
optimization ,Mobilty based Tracking,Firefly. with wireless sensor network more efficiently and
naturally.
INTRODUCTION:
OPTIMIZATION AND
Object tracking has a great deal of attention in
TRACKING:
recent years. The reason is that object tracking has
found its way in many real world applications, for
Optimization is defined as finding an alternative
example Surveillance ,Vision based control, and
with the most cost effective or highest achievable
robotics ,and in military regions. Sensors are used
performance under the given constraints, by
to collect information about moving target position
maximizing desired factors and minimizing
and to monitor the moving pattern in sensor field
undesired ones. In comparison, maximization
.wireless sensors networks must rely on the sensors
means trying to attain the highest or maximum
used and collaborative signal processing to
result or outcome without regard to cost or
dynamically manage nodes resources and
expense. Practice of optimization is restricted by
effectively process distributed information. Along
the lack of full information, and the lack of time to
the direction, moving target tracking will be

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INTERNATIONAL JOURNAL OF INNOVATIVE RESEARCH EXPLORER
evaluate what information is available.
optimization includes finding "best available"
values of some objective function given a defined
domain.
TRACKING: A process of determining the
current and past locations Tracking system track
the moving target in a WSN(Wireless sensor
network) by sensing the capability of sensors. since
sensor nodes have limited battery power and
replacement of battery is impossible, and energy
saving is an issue in tracking process. A target
detection is scheme in which each sensor works
autonomously until a target is acquired. Most
sensors can operate under the three different
conditions: Active, Idle and sleep. It is important to
completely shut down the radio rather than put it in
the idle mode when it needs not sensing.
Tracking in Our System is Performed by :
1. DISCOVERY: when a sensor node around the
mobile object detects the target and initializes
tracking ,it becomes estimation node which act as
the master node temporarily.[3]
2. LOCALIZATION:A set of nodes those become
aware the appearances of the mobile target
compute the target’s current position. The
coordinates of the mobile target may be accomplish
by the triangulation and their collaborative
works.[3]
3. ESTIMATION:An estimation node predicts the
future movement path of the mobile target and
transmits message about the approaching location
to its neighbor nodes .The prediction is carried out
by the two steps: approximate a prediction and
correction step that is explained above. The moving
factors of a target ,such as direction and velocity
can be obtained by sensors nodes through
collecting moving patterns of the tracked target.[3]
4. COMMUNICATION:As the mobile target moves
each node may hand off the initial estimate target
location to the next node in turn, each node
changes its duty cycle along the movement of the
target. [3]
Operation of the Sensor Network
The nodes that surround the mobile target are
responsible for observing the target For example,
when the target passes through the t1 point as
shown in Fig. 1,all nodes do not need to join in the
task for tracking a mobile target. Instead, it is more
energy efficient for only the nodes S1 around the
mobile object to join in collecting information of
VOLUME 4, ISSUE 6, NOV/2017
ISSN NO: 2347-6060
the target and performing collaborative work
among them. Other nodes located far from the
target don not need to waste their powers to
detection and tracking with surveillance. Also each
monitor the target. If we can predict the next
location of the mobile object in advance, we can
organize the group membership dynamically which
should join in tracking mission. As shown in Fig.1,
for example, the number of participating nodes
may be minimized, which allows us to further
extend the whole network lifetime if we predict
future location of the mobile target accurately.
[3,4,5]. As the mobile object moves, the tracking
nodes may migrate to the moving direction of the
target to keep on monitoring as shown in Fig.
1,where a thick line indicates the moving path of
mobile target and blacked circles inside the dotted
circle are tracking nodes at time 1 t. Thus, sensor
nodes need to control their states by themselves
based on prediction of target’s movement. We
assume a sensor network where N sensors with the
same communication and sensing range are
distributed randomly in the environment that is
being monitored [3]. We also assume that each
node knows its own location by using GPS or other
location awareness techniques and we utilize
triangulation for localization of a mobile target.
Consequently at least 3 sensors join the target
detection and tracking with surveillance. Also each
node keep information about its neighbors such as
location through the periodically message change.
And each individual sensor node is equipped with
appropriate sensory devices to be able to recognize
the target as well as equipped with appropriate
sensory devices to be able to recognize the target as
well as to estimate its distance based on the sensed
data. . Further, we assume that we predict the
location of the mobile targets every one second (or
minute), and each sensor records the movement
pattern of the mobile object. Basically we used a
moving average estimator to predict the future
location of the mobile target based on the
measurement of direction and the velocity of the
mobile target.
FIG 1:Concept of Traking mobile object
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INTERNATIONAL JOURNAL OF INNOVATIVE RESEARCH EXPLORER ISSN NO: 2347-6060

Particle Swarm Optimization

The PSO algorithm searches the space of the
objective functions by adjusting the trajectories of
individual agents, called particles, as the piecewise
paths formed by positional vectors in a quasi-
stochastic manner. There are now as many as about
20 different variants of PSO[2,3,4]. Here we only
describe the simplest and yet popular standard
PSO.
The particle movement has two major
components: a stochastic component and a
deterministic component. A particle is attracted
toward the position of the current global best g*
and its own best location xi* in history, while at the
same time it has a tendency to move randomly.
When a particle finds a location that is better than
any previously found locations, then it updates it as
the new current best for particle i. There is a
current global best for all n particles. The aim is to
find the global best among all the current best
solutions until the objective no longer improves or
after a certain number of iterations. For the particle
movement, we use xi* to denote the current best for
particle i, and g*≈ min or max {f(xi)}(i =1,2,...,n)
to denote the current global best. Let xi and vi be
the position vector and velocity for particle i,
respectively. The new velocity vector is determined Fig 2: Flow Chart for PSO algorithm
by the following formula
Vit+1i = Vit + αε1 (g*- Xit) + 2 β ε2(X *i − X ti)-- (1) BEHAVIOUR OF FIREFLY :
The flashing light of fireflies is an amazing sight in
Where ε1and ε2 are two random vectors, and each the summer sky in the tropical and temperate
entry taking the values between 0 and 1. The regions. [4,5]There are about two thousand firefly
Hadamard product of two matrices u ⊙ v is species, and most fireflies produce short and
defined as the entry wise product, that is [u ⊙ v]ij= rhythmic flashes. The pattern of flashes is often
uij.vij. The parameters α and β are the learning unique for a particular species. The flashing light is
parameters or acceleration constants, which can produced by a process of bioluminescence, and the
typically be taken as, say, α ≈ β≈2. The initial true functions of such signaling systems are still
values of Xi t=0i can be taken as the bounds or debating. However, two fundamental functions of
limits a=min(xj),b=max(xj) and Vit=0i= 0. The new such flashes are to attract mating partners
position can then be updated by (communication), and to attract potential prey. In
Xi t+1= X t+V t+1. -------(2) addition, flashing may also serve as a protective
warning mechanism. The rhythmic flash ,the rate of
i i
flashing and the amount of time form part of the
signal system that brings both sexes together.
Although vi can be any values, it is usually
Females respond to a male’s unique pattern of
bounded in some range [0, vmax]. There are many
flashing in the same species, while in some species
variants which extend the standard PSO algorithm,
such as photuris, female fireflies can mimic the
and the most noticeable improvement is probably
to uset inertia function θ(t) so that v tiis replaced by mating flashing pattern of other species so as to
lure and eat the male fireflies who may mistake the
θ(t)vi where θ takes the values between 0 and 1. In
flashes as a potential suitable mate. We know that
the simplest case, the inertia function can be taken
the light intensity at a particular distance R from
as a constant, typicallyθ≈0.5∼0.9. This is
the light source obeys the inverse square law. That
equivalent to introducing a virtual mass to stabilize
is to say, the light intensity I decreases as the
the motion of the particles, and thus the algorithm
distance r increases in terms of I∝1/r2.
is expected to converge more quickly
Furthermore, the air absorbs light which becomes
weaker and weaker as the distance increases.
These two combined factors make most fireflies
visible only to a limited distance, usually several

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hundred meters at night, which is usually good

enough for fireflies to communicate. The flashing
light can be formulated in such a way that it is
associated with the objective function to be
optimized, which makes it possible to formulate
new optimization algorithms[5]. In the rest of this
paper, we will first outline the basic formulation of
the Firefly Algorithm (FA) and then discuss the
implementation as well as its analysis in detail.

FIREFLY ALGORITHM:

In mathematical optimization the firefly algorithm

is a metaheuristic proposed by Xin-She Yang and
inspired by the flashing behaviour of fireflies.

1. All fireflies are unisex so that one firefly will be

attracted to other fireflies regardless of their sex.
2. Attractiveness is proportional to their
brightness, thus for any two flashing
3. Fireflies, the less brighter one will move towards
the brighter one. The attractiveness is proportional
to the brightness and they both decrease as their
distance increases. If there is no brighter one than a FIG 3: Flow Chart for Firefly algorithm
particular firefly, it will move randomly.
4. The brightness of a firefly is affected or In the firefly algorithm, there are two important
determined by the landscape of the objective issues: the variation of light intensity and
function. formulation of the attractiveness. For simplicity,
we can always assume that the attractiveness of a
Pseudo code of the firefly algorithm (FA): firefly is determined by its brightness which in turn
is associated with the encoded objective function.
Algorithm
In the simplest case for maximum optimization
Objective function f(x), x = (x1, ..., xd)T problems, the brightness I of a firefly at a particular
Generate initial population of fireflies xi (i = 1, 2, location x can be chosen as I(x) / f(x).[4,5]
..., n) However, the attractiveness _ is relative, it should
Light intensity Ii at xi is determined by f(xi) be seen in the eyes of the beholder or judged by the
Define light absorption coefficient
other fireflies. Thus, it will vary with the distance
while (t <Max Generation) rij between firefly i and firefly j. In addition, light
for i = 1 : n all n fireflies intensity decreases with the distance from its
for j = 1 : i all n fireflies
source, and light is also absorbed in the media, so
if (Ij > Ii), Move firefly i towards j in d-
we should allow the attractiveness to vary with the
dimension; end if
degree of absorption. In the simplest form, the light
Attractiveness varies with distance r via
intensity I(r) varies according to the inverse square
exp[−r]
law I(r) = Is/r2 where Is is the intensity at the
Evaluate new solutions and update light
source. For a given medium with a fixed light
intensity
absorption coefficient , the light intensity I varies
end for j
with the distance r. That is I = I0e−r, where I0 is
end for i
the original light intensity. In order to avoid the
Rank the fireflies and find the current best
singularity at r = 0 in the expression Is/r2,
end while
Post process results and visualization
The combined effect of both the inverse square law
and absorption can be approximated using the
following Gaussian form
I(r) = I0e−r2.------(1)

Sometimes, we may need a function which

decreases monotonically at a slower
rate. In this case, we can use the following
approximation

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INTERNATIONAL JOURNAL OF INNOVATIVE RESEARCH EXPLORER ISSN NO: 2347-6060

I(r) =I0/(1 + r2) .------(2) RESULT:

At a shorter distance, the above two forms are
essentially the same. This is because the series
expansions about r = 0
e−r2 ~ 1 − yr2+1/2y2r4+….. 1 /(1+ yr2 )~- yr2
2
+y r4 +………(3)
are equivalent to each other up to the order of
O(r3).As a firefly’s attractiveness is proportional to
the light intensity seen by adjacent fireflies, we can
now define the attractiveness _ of a firefly by
β(y)= β0e-yr 2 -------(4)
where β0 is the attractiveness at r = 0. As it is often
faster to calculate 1/(1 + r2) than an exponential
function, the above function, if necessary, can
conveniently be replaced by β=β/(1+yr2) .the above
equation defines defines a characteristic distance r
FIG 4: Object Tracking by using PSO
= 1/y1/2 over which the attractiveness changes
significantly from β0 to β0e-1
In the implementation, the actual form of
attractiveness function _(r) can
be any monotonically decreasing functions such as
the following generalized form
β(r)=β0e-yrm (m>1)------(5)
For a fixed , the characteristic length becomes r = y
1/m
tends to 1 as 1.tends to infinite Conversely, for
a given length scale r in an optimization problem,
the parameter Y can be used as a typical initial
value that is y = 1/rm [4,5]
Distance and Movement:
The distance between any two fireflies i and j at xi
and xj, respectively, is the Cartesian distance rij=
—(6)
√∑ =1( − )
where xi,k is the k th component of the spatial
coordinate xi of the firefly. In2-D case
rij=√( − )2 + √( − )2
FIG 5: Object Tracking by using FA
The movement of a firefly i is attracted to another
CONCLUSION:
more attractive (brighter) firefly j is determined by In this paper, we have formulated a new firefly
algorithm and analyzed its similarities and
Xi=Xi+β0e-γr2ij(xj- xi)+α(rand-1/2) differences with particle swarm optimization. We
then implemented and compared these algorithms.
The parameter γ now characterizes the variation of
Firefly is better than PSO in terms of the time taken
the attractiveness, and its value is crucially
to track the moving object. In PSO algorithm we
important in determining the speed of the
can find the probability best and Global best to
convergence and how the FA algorithm behaves.
detect the future location of the object ,but by using
the firefly algorithm the present, past, future
locations and path of the object is determined .The
speed and accuracy of the firefly algorithm is better
than the particle swarm optimization.

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REFERENCES

[1] Dr.G.Sridhar, “Fractional order PID controller tuning using

firefly for fractional order plant”.

[2] Dr.G.Sridhar , “ Genetic Algorithm based Fractional Order

PID Control for Temperature Control Plant”.

[3] S.Kavitha, Dr.Kanakaraj and DR.G.Mary Jansi Rani

“Mobility based energy Efficient tracking using PSO in sensor
networks”,

[4] Xin-She Yang “Firefly Algorithms for Multimodal

Optimization”, Department of Engineering, University of
Cambridge,
Trumpington Street, Cambridge CB2 1PZ, UK

[5] Bonabeau E., Dorigo M., Theraulaz G., Swarm Intelligence:

From Natural to Artificial Systems. Oxford University Press,
(1999).

AUTHORS

Dr.G.Sridhar received the Ph.d degree in electronics and

instrumentation engineering from the SR
university,India, in 2015, the M.E. degree in Control and
Instrumentation from Anna University, Chennai, India, in
2012. He is currently working as a Professor in
Department of ECE, Malla Reddy College of Engineering,
Hyderabad. His research interests include
communication and networks,wireless communication
networks, Control systems, Fuzzy logic and Networks,
AI, Sensor Networks

B. Uma Maheshwari

Received My B.Tech degree from SRI INDU College

of Engineering and Technology in Electronics and
Communication Engineering in 2016 ,Currently
pursuing M.Tech degree from Malla Reddy College
of Engineering.

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