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.
Highlights
Mobile robots have the capability of moving around in their environment and are able to perform tasks without being fixed to one physical location
The computational complexity, especially for particle filters (PFs) and variational filter (VF), is so high that their trackers may be costly for real world wireless sensor networks (WSNs) system
In order to get an estimation of yk, a RSSI-based moving robot position estimation algorithm is used in this study
Summary
Mobile robots have the capability of moving around in their environment and are able to perform tasks without being fixed to one physical location. Wireless sensor networks (WSNs) are often used to track indoor mobile robots. In addition to the general advantage of tracking indoor mobile robots, WSN is able to forward the gathered tracking data from the deployed sensors to a central observation point, which is needed in most scenarios. We consider the problem of tracking a mobile robot moving through a particular indoor target region. If they detect a tracking request from a mobile robot, they sample the signal strength of the tracking request and relay the measured samples to a central observation point. The moving robot periodically broadcasts a tracking request as it travels, which is captured by the wireless sensor nodes that are located near the robot.
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