An indoor navigation system for autonomous mobile robot using wireless sensor network

Recently, considerable attention has been focused on the investigation of the use of wireless sensor networks (WSN) to drive autonomous mobile robot for navigation in flexible, indoor environments instead of fixed locations, for their potential as a cheap, easily deployed, and distributed monitoring tool. However, such composite net systems are nontrivial to design for the robot systems typically assume the map known in advance, or they need to build the map while moving around, with the help of acquired sensor network infrastructure information. The key component for determining the robot's pose by the information of physical location of the sensor nodes after they have been deployed is known as the problem of localization. In this paper we propose an environment map free navigation algorithm based on RF wireless sensor networks for an indoor autonomous mobile robot. In our navigation system, the robot can navigate autonomously without the need for a map, by acquiring the information of pre-set radio emission sensors deployed in an indoor environment. By measuring the distance from one sensor node after another using triangular localization method, the robot locates itself and knows its pose. The proposed algorithm is conceptually simple and easy to implement. Our approach is applied to a mobile robot platform, simulation and experimental results show that good localization can be achieved using the proposed method.

[1]  P. Johnson,et al.  Remote Continuous Physiological Monitoring in the Home , 1996, Journal of telemedicine and telecare.

[2]  G Coyle,et al.  Home Telecare for the Elderly , 1995, Journal of telemedicine and telecare.

[3]  B. Sibbald.  Use computerized systems to cut adverse drug events: report , 2001 .

[4]  Branko G. Celler,et al.  An instrumentation system for the remote monitoring of changes in functional health status of the elderly at home , 1994, Proceedings of 16th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[5]  I.A. Essa,et al.  Ubiquitous sensing for smart and aware environments , 2000, IEEE Wirel. Commun..

[6]  Deborah Estrin,et al.  Self-configuring localization systems: Design and Experimental Evaluation , 2004, TECS.

[7]  Hari Balakrishnan,et al.  6th ACM/IEEE International Conference on on Mobile Computing and Networking (ACM MOBICOM ’00) The Cricket Location-Support System , 2022 .

[8]  Gregory J. Pottie,et al.  Wireless integrated network sensors , 2000, Commun. ACM.

[9]  Suprakash Datta,et al.  Localization in wireless sensor networks , 2007, IPSN.

[10]  Jan M. Rabaey,et al.  PicoRadio Supports Ad Hoc Ultra-Low Power Wireless Networking , 2000, Computer.

[11]  N. Noury,et al.  Monitoring behavior in home using a smart fall sensor and position sensors , 2000, 1st Annual International IEEE-EMBS Special Topic Conference on Microtechnologies in Medicine and Biology. Proceedings (Cat. No.00EX451).

[12]  Jan M. Rabaey,et al.  Location in distributed ad-hoc wireless sensor networks , 2001, 2001 IEEE International Conference on Acoustics, Speech, and Signal Processing. Proceedings (Cat. No.01CH37221).

[13]  Paramvir Bahl,et al.  RADAR: an in-building RF-based user location and tracking system , 2000, Proceedings IEEE INFOCOM 2000. Conference on Computer Communications. Nineteenth Annual Joint Conference of the IEEE Computer and Communications Societies (Cat. No.00CH37064).

[14]  Deborah Estrin,et al.  Habitat monitoring: application driver for wireless communications technology , 2001, SIGCOMM LA '01.

[15]  Kazuo Tani,et al.  Planning of Landmark Measurement for the Navigation of a Mobile Robot , 1993 .

[16]  Simon M. Kaplan,et al.  Component-based software systems for smart environments , 2000, IEEE Wirel. Commun..

[17]  Chris Savarese.  LOCATIONING IN DISTRIBUTED AD-HOC WIRELESS SENSOR NETWORKS , 2001 .

[18]  Philippe Bonnet,et al.  Querying the physical world , 2000, IEEE Wirel. Commun..

[19]  Deborah Estrin,et al.  GPS-less low-cost outdoor localization for very small devices , 2000, IEEE Wirel. Commun..

[20]  Minyi Guo,et al.  Hash-area-based data dissemination protocol in wireless sensor networks , 2008 .

[21]  Nathan Ickes,et al.  Physical layer driven protocol and algorithm design for energy-efficient wireless sensor networks , 2001, MobiCom '01.

[22]  A. Easton,et al.  A Gaussian Error Model for Triangulation-Based Pose Estimation Using Noisy Landmarks , 2006, 2006 IEEE Conference on Robotics, Automation and Mechatronics.