Theseus Gradient Guide: an Indoor Transmitter Searching Approach Using Received Signal Strength

摘要：

The searching for a location-unknown radio trans- mitter is a challenging task for autonomous robot. We propose an adaptive searching algorithm named theseus gradient guide (TGG) which is designed for solving the searching problem in indoor environments using received signal strength (RSS). While the RSS gradient serves as the main guide, the robot prefers to move to the places which have never been traveled. Thus the robot will not get stuck in the local maxima. Moreover, unlike the commonly used random kick strategy the TGG drives the robot escaping the local maxima with low cost in terms of travel distance. Meanwhile, TGG is not sensitive to motion errors. Simulation results show that the searches using TGG cost much less compared with those using other gradient based methods in our testing indoor environment. Guided by TGG, the robot can successfully reach the location-unknown radio transmitter with a ratio over 97％ when the standard deviation of motion error is up to 20％ of the step length.

关键词： mobile robot radio transmitter searching received signal strength theseus gradient guide

作者: Xiaochen Zhang Yi Sun Jizhong Xiao Flavio Cabrera-Mora

作者单位: Department of Electrical Engineering at the City College of City University of New York,New York,NY Dept. of Electrical Engineering,The Graduate Center of the City University of New York,New York,NY 1

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2560-2565

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）