Received signal strength based bearing-only robot navigation in a sensor network field

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Publication Type pre-print
School or College College of Engineering
Department Computing, School of
Creator Henderson, Thomas C.
Other Author Deshpande, Nikhil; Grant, Edward; Draelos, Mark
Title Received signal strength based bearing-only robot navigation in a sensor network field
Date 2014-01-01
Description This paper presents a low-complexity, novel approach to wireless sensor network (WSN) assisted autonomous mobile robot (AMR) navigation. The goal is to have an AMR navigate to a target location using only the information inherent to WSNs, i.e., topology of the WSN and received signal strength (RSS) information, while executing an efficient navigation path. Here, the AMR has neither the location information for the WSN, nor any sophisticated ranging equipment for prior mapping. Two schemes are proposed utilizing particle filtering based bearing estimation with RSS values obtained from directional antennas. Real-world experiments demonstrate the effectiveness of the proposed schemes. In the basic node-to-node navigation scheme, the bearing-only particle filtering reduces trajectory length by 11.7% (indoors) and 15% (outdoors), when compared to using raw bearing measurements. The advanced scheme further reduces the trajectory length by 22.8% (indoors) and 19.8% (outdoors), as compared to the basic scheme. The mechanisms exploit the low-cost, low-complexity advantages of the WSNs to provide an effective method for map-less and ranging-less navigation.
Type Text
Publisher Institute of Electrical and Electronics Engineers (IEEE)
First Page 4618
Last Page 4623
Language eng
Bibliographic Citation Deshpande, N.; Grant, E.; Draelos, M.; & Henderson, T. C. (2014). Received signal strength based bearing-only robot navigation in a sensor network field. IEEE International Conference on Intelligent Robots and Systems, 4618-23.
Rights Management (c) 2014 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Format Medium application/pdf
Format Extent 997,292 bytes
Identifier uspace,19097
ARK ark:/87278/s6wh604t
Setname ir_uspace
Date Created 2014-12-15
Date Modified 2021-05-06
ID 712743
Reference URL https://collections.lib.utah.edu/ark:/87278/s6wh604t
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