Open AccessMOBILE ROBOT LOCALIZATION USING WLAN SIGNAL STRENGTHS
Author(s) -
Christof Röhrig,
Frank Künemund
Publication year - 2014
Publication title -
computing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.184
H-Index - 11
eISSN - 2312-5381
pISSN - 1727-6209
DOI - 10.47839/ijc.7.2.513
Subject(s) - omnidirectional antenna , computer science , mobile robot , heading (navigation) , robot , antenna (radio) , delaunay triangulation , computer vision , artificial intelligence , euclidean distance , interpolation (computer graphics) , signal (programming language) , telecommunications , engineering , algorithm , image (mathematics) , programming language , aerospace engineering
Many buildings are already equipped with a WLAN infrastructure, as an inexpensive communication technology. In this paper two methods that estimate the position and the heading (pose) of a mobile robot using WLAN technology are described. The proposed techniques for localizing a mobile robot are based on the use of received signal strength values of WLAN access points in range. Both use a radio map based method. For interpolation of the radio map weigthed Euclidean distance and Euclidean distance in combination with Delaunay triangulation is proposed. Measured signal strength values of an omnidirectional antenna and a beam antenna are compared with the values of a radio map, in order to estimate the pose of a mobile robot, whereby the directionality of the beam antenna is used to estimate the heading of the robot. The paper presents the experimental results of measurements in an office building.