RT info:eu-repo/semantics/conferenceObject
T1 Robot localization using WiFi signal without intensity map
A1 Serrano, Oscar
A1 Rodero Merino, Luis
A1 Matellán Olivera, Vicente
A1 Cañas, José María
A2 Arquitectura y Tecnologia de Computadores
K1 Informática
K1 WiFi
K1 Robots móviles
K1 Localización
AB This paper describes a method to estimate the position of a mobilerobot in an indoor scenario using the odometric calculus and the WiFienergy received from the wireless infrastructure. This energy will bemeasured by wireless network card on-board a mobile robot, and it willbe used as another regular sensor to improve position estimation. TheBayes rule will be used to accumulate localization probability as the robot moves on. In this paper several experiments in a university buildingare shown. The two major contributions of the presented work are thatthe self-localization error achieved is bounded, and that no significantdegradation is observed when the theoretical WiFi energy at each pointis taken from radio propagation model instead of an a priori experimentalintensity map of the environment
SN 8493361968
YR 2012
FD 2012-11-15
LK http://hdl.handle.net/10612/2013
UL http://hdl.handle.net/10612/2013
NO V Workshop de Agentes Físicos, marzo, 2004, Gerona, España
DS BULERIA. Repositorio Institucional de la Universidad de León
RD 19-may-2024