WLAN based Pose Estimation for Mobile Robots

Christof Röhrig, Frank Künemund
2008 IFAC Proceedings Volumes  
Nowadays, many buildings are equipped with a WLAN infrastructure, as an inexpensive communication technology. In this paper a method to estimate position and heading (pose) of a mobile robot using WLAN technology is described. The proposed technique for localizing a mobile robot is based on the use of received signal strength values of WLAN access points in range. A radio map based method and Euclidean distance in combination with Delaunay triangulation and interpolation is proposed. Measured
more » ... gnal strength values of an omnidirectional antenna and a beam antenna are compared with the values of a radio map, in order to estimate the pose of a mobile robot, whereby the directionality of the beam antenna is used to estimate the heading of the robot. The paper presents the experimental results of measurements in an office building.
doi:10.3182/20080706-5-kr-1001.01768 fatcat:qojk3nfrgrgprdwrn62wvnl6ey