Mobile Robot Localization using WLAN Signal Strengths

Author

Rohrig, Chfistof ; Kunemund, F.

Author_Institution

Univ. of Appl. Sci. Dortmund, Dortmund

fYear

2007

fDate

6-8 Sept. 2007

Firstpage

704

Lastpage

709

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IDAACS.2007.4488514

Filename

4488514