RSS-based relative localization and tethering for moving robots in unknown environments
- 1 May 2010
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 5466-5471
- https://doi.org/10.1109/robot.2010.5509975
Abstract
The LANdroids project requires robots to autonomously localize, track, and follow (a task also known as tethering) other robots or humans in an unknown environment with limited sensing abilities. In this paper, we present a localization and tethering approach that relies solely on wireless signal strength and robot odometry without requiring any known reference points in the domain. We introduce a data-driven, probabilistic model that maps received signal strength (RSS) values to real-world distance distributions and embed this model in a grid-based localization algorithm that successfully performs the LANdroids tethering task. We furthermore show, that it is possible to improve localization through the addition of a compass sensor and inter-robot information sharing.Keywords
This publication has 11 references indexed in Scilit:
- WiFi localization and navigation for autonomous indoor mobile robotsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2010
- The DARPA LANdroids programPublished by SPIE-Intl Soc Optical Eng ,2009
- Optimal RSS threshold selection in connectivity-based localization schemesPublished by Association for Computing Machinery (ACM) ,2008
- Localization using signal strengthPublished by Association for Computing Machinery (ACM) ,2008
- RF Time of Flight Ranging for Wireless Sensor Network LocalizationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Locating the nodes: cooperative localization in wireless sensor networksIEEE Signal Processing Magazine, 2005
- Node localization using mobile robots in delay-tolerant sensor networksIEEE Transactions on Mobile Computing, 2005
- Practical robust localization over large-scale 802.11 wireless networksPublished by Association for Computing Machinery (ACM) ,2004
- Localization for mobile sensor networksPublished by Association for Computing Machinery (ACM) ,2004
- RADAR: an in-building RF-based user location and tracking systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002