Title :
Wireless Reception Signal Strength for Relative Positioning in a Vehicle Robot Formation
Author :
Gil-Pinto, Arturo ; Fraisse, Philippe ; Zapata, Rene
Author_Institution :
Dept. of Robotics, Montpellier II Univ.
Abstract :
An integration of the wireless network signal strength data with the vehicle sensors information by means of a Kalman filter is proposed to estimated the relative position of each vehicle in a robot formation set. Vehicle sensors consist of wheel speed and steering angle, the WiFi data consist of reception signal strength (RSS) and the angle of the maximal RSS with respect to the robot orientation. A nonholonomic nonlinear model vehicle is considered, due to this nonlinearities a extended Kalman filter EKF is used. Simulation and experimental results of the proposed estimation strategy are presented
Keywords :
Kalman filters; mobile robots; multi-robot systems; position control; vehicles; wireless LAN; WiFi data; estimation strategy; extended Kalman filter; nonholonomic nonlinear model vehicle; relative positioning; robot orientation; steering angle; vehicle robot formation; vehicle sensors information; wheel speed; wireless network signal strength data; wireless reception signal strength; Global Positioning System; Helium; Mobile robots; Monitoring; Robot sensing systems; Vehicles; Velocity measurement; Wheels; Wireless networks; Wireless sensor networks;
Conference_Titel :
Robotics Symposium, 2006. LARS '06. IEEE 3rd Latin American
Conference_Location :
Santiago
Print_ISBN :
1-4244-0537-8
Electronic_ISBN :
1-4244-0537-8
DOI :
10.1109/LARS.2006.334330
