Title :
Mobile Robot Localization using WLAN Signal Strengths
Author :
Rohrig, Chfistof ; Kunemund, F.
Author_Institution :
Univ. of Appl. Sci. Dortmund, Dortmund
Abstract :
Localization is a key problem in mobile robotics. This paper presents a method to estimate position and heading of a mobile robot in an indoor scenario. The proposed method for localizing the mobile robot is based on the use of received signal strengths values of WLAN access points in range. A radio map based method and Euclidean distance in combination with interpolation is proposed. Measured signal strength values of an omnidirectional antenna and a beam antenna are compared with the values of the radio map, in order to estimate position and heading of the mobile robot. The paper presents the experimental results of measurements in an office building.
Keywords :
indoor radio; interpolation; mobile robots; navigation; radio access networks; wireless LAN; Euclidean distance; WLAN access point; WLAN signal strength; beam antenna; heading estimation; interpolation; mobile robot localization; omnidirectional antenna; position estimation; radio map based method; Antenna measurements; Conferences; Directional antennas; Interpolation; Laser fusion; Mobile robots; Navigation; Robot sensing systems; Sensor systems; Wireless LAN; Mobile robots; WLAN; global localization; pose estimation; received signal strength;
Conference_Titel :
Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, 2007. IDAACS 2007. 4th IEEE Workshop on
Conference_Location :
Dortmund
Print_ISBN :
978-1-4244-1347-8
Electronic_ISBN :
978-1-4244-1348-5
DOI :
10.1109/IDAACS.2007.4488514
