Wireless indoor localisation for autonomous service robot with a single emitter

Abstract

The ability to localise in an unknown environment allows for faster and less cost-prohibitive deployment of autonomous vehicles. In this research, we aim to demonstrate the possibility of using a single RF emitter node for location finding. An autonomous ground vehicle must be able to locate the signal emitted and navigate to it without having prior knowledge of the environment. Through the comparison of Received Signal Strength (RSS) at multiple directional antennae, approximations could be made as to the relative position of the emitter. A particle filter was added to improve the accuracy of these approximations over time. Simultaneous Localisation and Mapping (SLAM) was added to allow for A∗ path planning through the local environment in order to reach the emitter. A number of benchmark tests were created to prove system functionality and demonstrate that the system is able to find and navigate to a nearby emitter whilst avoiding obstacles.