A Practical Evaluation of Radio Signal Strength for Mobile Robot Localization

摘要：

This paper dealt with localization of a mobile robot using received signal strength (RSS) and detailed a practical evaluation about the suitability of the RSS based localization. RSS technique is especially appealing for localization in WSN due to its simplicity such as low cost, size and power constraints, despite of the fact that RSS may bring in very noisy range estimates. We conducted numerous ranging experiments to quantify the effects of various environmental factors on RSS both in the indoor environment and in the outdoor environment. To further improve the localization performance of mobile robot, we proposed a novel improvement-mean filtering technique to reduce the effect of radio irregularity and optimized the localization results. A series of localization experiments were performed to validate the proposed methods, with achieving the localization error to 1.2m in the outdoor basketball field.

作者: Lingfei Wu Max Q.-H. Meng Zijing Lin Wu He ChaoPeng Huawei Liang

作者单位: Center for Biomimetic Sensing and Control Research,Institute of Intelligent Machines,Chinese Academy Center for Biomimetic Sensing and Control Research,Institute of Intelligent Machines,Chinese Academy

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 516-522

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）