Development of Localization Technique using Trilateration Algorithm for E-Puck2 Robot

Abstract

This paper utilizes indoor localization techniques for E-Puck2 robots to assist the robot in locating their position in the predefined environment. The localization technique is crucial in many ways, one of which is in a multi-robot system to get accurate robot positions. In this paper, the Trilateration algorithm is utilized to locate E-Puck2 robot by using the value of Received Signal Strength Indication (RSSI) from Bluetooth Low Energy (BLE) beacons to indicate the distance between the robot and the beacons. Each beacon is placed in a certain position in the test environment and the RSSI value is calculated from the BLE signal. The RSSI value and position of the beacon are then sent to the server using a serial port to be processed by Trilateration algorithm so that the position of the robot can be obtained. The test is done in 2 scenarios, namely scenario 1, which uses three beacons and scenario 2, which uses four beacons. The average error in scenario 1 is 48.56±14.52 cm on the x-axis and 79.80±28.83 cm on the y-axis. Meanwhile, the average error in scenario 2 is 76.70±26.24 cm on the x-axis and 63.52±20.86 cm on the y-axis. These errors are mainly caused by uns table RSSI values, which depend on the environment and the robot’s heading. Although the produced error is quite high, the test results indicate that the localization technique using Trilateration algorithm can be implemented in both scenarios.