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37th Annual IEEE Conference on Local Computer Networks
An RSSI-based navigation algorithm for a mobile robot in Wireless Sensor Networks
Clearwater Beach, FL, USA USA
October 22-October 25
ISBN: 978-1-4673-1565-4
Antonio R. de Carvalho, Analysis, Research and Technological, Innovation Center - FUCAPI, Av. Gov. Danilo Areosa, 381, Manaus, AM, Brazil
Afonso D. Ribas, Analysis, Research and Technological, Innovation Center - FUCAPI, Av. Gov. Danilo Areosa, 381, Manaus, AM, Brazil
Vilar F. da Camara Neto, Analysis, Research and Technological, Innovation Center - FUCAPI, Av. Gov. Danilo Areosa, 381, Manaus, AM, Brazil
Eduardo Freire Nakamura, Analysis, Research and Technological, Innovation Center - FUCAPI, Av. Gov. Danilo Areosa, 381, Manaus, AM, Brazil
Carlos Mauricio Figueiredo, Analysis, Research and Technological, Innovation Center - FUCAPI, Av. Gov. Danilo Areosa, 381, Manaus, AM, Brazil
Wireless Sensor Networks (WSNs) are commonly employed for environmental and wildlife monitoring. In these scenarios, mobile robots with specialized sensing, processing and actuation abilities may be employed to investigate relevant events in place. However, driving the robot to the event place is not a trivial task in the typical case where sensor nodes do not have positioning sensors such as GPS. In this work we propose a novel navigation algorithm for the mobile robot based solely on the Received Signal Strength Indication (RSSI) of communication packets. The proposed algorithm builds on a probabilistic signal propagation model recovered from real signal decay data, unlike alternative solutions found in literature. Simulations show a superior performance in comparison to similar related work.
Index Terms:
Mobile robots,Navigation,Robot sensing systems,Wireless sensor networks,Monitoring,Wireless communication
Citation:
Antonio R. de Carvalho, Afonso D. Ribas, Vilar F. da Camara Neto, Eduardo Freire Nakamura, Carlos Mauricio Figueiredo, "An RSSI-based navigation algorithm for a mobile robot in Wireless Sensor Networks," lcn, pp.308-311, 37th Annual IEEE Conference on Local Computer Networks, 2012
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