This work addresses the problem of tracking mobile robots in indoor wireless sensor networks (WSNs). Our approach is based on a localization scheme with RSSI (received signal strength indication) which is used widely in WSN. The developed tracking system is designed for continuous estimation of the robot's trajectory. A WSN, which is composed of many very simple and cheap wireless sensor nodes, is deployed at a specific region of interest. The wireless sensor nodes collect RSSI information sent by mobile robots. A range-based data fusion scheme is used to estimate the robot's trajectory. Moreover, a Kalman filter is designed to improve tracking accuracy. Experiments are provided to assess the performance of the proposed scheme. © 2014 Liping Zhang et al.
Tracking mobile robot in indoor wireless sensor networks
KARIMI, HAMID REZA
2014-01-01
Abstract
This work addresses the problem of tracking mobile robots in indoor wireless sensor networks (WSNs). Our approach is based on a localization scheme with RSSI (received signal strength indication) which is used widely in WSN. The developed tracking system is designed for continuous estimation of the robot's trajectory. A WSN, which is composed of many very simple and cheap wireless sensor nodes, is deployed at a specific region of interest. The wireless sensor nodes collect RSSI information sent by mobile robots. A range-based data fusion scheme is used to estimate the robot's trajectory. Moreover, a Kalman filter is designed to improve tracking accuracy. Experiments are provided to assess the performance of the proposed scheme. © 2014 Liping Zhang et al.| File | Dimensione | Formato | |
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