MOBILE ROBOT LOCALIZATION USING WLAN SIGNAL STRENGTHS

Authors

  • Christof Röhrig
  • Frank Künemund

DOI:

https://doi.org/10.47839/ijc.7.2.513

Keywords:

Mobile robots, global localization, pose estimation, WLAN, received signal strength

Abstract

Many buildings are already equipped with a WLAN infrastructure, as an inexpensive communication technology. In this paper two methods that estimate the position and the heading (pose) of a mobile robot using WLAN technology are described. The proposed techniques for localizing a mobile robot are based on the use of received signal strength values of WLAN access points in range. Both use a radio map based method. For interpolation of the radio map weigthed Euclidean distance and Euclidean distance in combination with Delaunay triangulation is proposed. Measured signal strength values of an omnidirectional antenna and a beam antenna are compared with the values of a radio map, in order to estimate the pose of a mobile robot, whereby the directionality of the beam antenna is used to estimate the heading of the robot. The paper presents the experimental results of measurements in an office building.

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Published

2014-08-01

How to Cite

Röhrig, C., & Künemund, F. (2014). MOBILE ROBOT LOCALIZATION USING WLAN SIGNAL STRENGTHS. International Journal of Computing, 7(2), 73-83. https://doi.org/10.47839/ijc.7.2.513

Issue

2008, Volume 7, Issue 2

Section

Articles

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