Communication related design considerations of WSN-aided Multi-Robot SLAM

Author

Tuna, Gurkan ; Gulez, Kayhan ; Gungor, V. Cagri

Author_Institution

Dept. of Comput. Programming, Trakya Univ., Edirne, Turkey

fYear

2011

fDate

13-15 April 2011

Firstpage

493

Lastpage

498

Abstract

This paper presents the communication related design considerations of Wireless Sensor Network (WSN) aided Multi-Robot Simultaneous Localization and Mapping (SLAM). In this approach, multiple robots perform WSN-aided cooperative SLAM using only range values to landmarks in the environment by measuring the Received Signal Strength Indicator (RSSI) of the received radio messages, and odometry information. The SLAM algorithm proposed in this study uses the Rao-Blackwellized Particle Filters. In addition, the inherent communication problems in WSNs, and their effects on cooperative SLAM are explained in detail and shown with the results of The Network Simulator (ns-2) simulations.

Keywords

SLAM (robots); distance measurement; mobile robots; multi-robot systems; particle filtering (numerical methods); wireless sensor networks; Rao-Blackwellized particle filter; WSN; communication related design; mobile robot; multirobot SLAM; multirobot simultaneous localization and mapping; network simulator; ns-2; odometry information; radio messages; received signal strength indicator measurement; wireless sensor network; Batteries; Robustness; Sensors; Wireless sensor networks; Map Merging; Mobile Robot; SLAM; WSNs; ns-2;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics (ICM), 2011 IEEE International Conference on

Conference_Location

Istanbul

Print_ISBN

978-1-61284-982-9

Type

conf

DOI

10.1109/ICMECH.2011.5971336

Filename

5971336