Using low-power radios for mobile robots navigation
作者： Hongbin Li , Luis Almeida , Fausto Carramate , Zhi Wang , Youxian Sun
DOI: 10.3182/20090520-3-KR-3006.00029
关键词: Antenna diversity 、 Omnidirectional antenna 、 RSS 、 Wireless sensor network 、 Engineering 、 Iterative method 、 Mobile robot 、 Real-time computing 、 Odometry 、 Simulation 、 Robot
摘要: Abstract This paper addresses the general field of mobile robots navigation within fixed sensor networks. We focus on an innovative for indoor environments that is based Radio-Frequency (RF) communication and its Received Signal Strength (RSS). propose two methods guiding a robot towards RF beacon using low-power radios, namely oblivious iterative methods. While former has negligeable resource requirements, latter requires more memory, processing power odometry but it presents substantially improved performance. noticed noisy RSS measurements are main obstacle in our problem, since noise incurs great ambiguity gradient climbing. Thus, we introduce antenna diversity omnidirectional with shielding plane to reduce multi-path phenomena provide better relationship between robot-beacon distance RSS. The efficiency these techniques as well performance evaluated via simulations practical experiments autonomous robot. results validate confirm viability RSS-based navigation.
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