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

Content Provider	IEEE Xplore Digital Library
Author	Siyao Fu Zeng-Guang Hou Guosheng Yang
Copyright Year	2009
Description	Author affiliation: Lab of Complex Systems and Intelligence Science, Institute of Automation, the Chinese Academy of Sciences, Beijing, 100190, China (Zeng-Guang Hou) \|\| College of Information and Engineering, the Central University of Nationalities, China (Siyao Fu; Guosheng Yang)
Abstract	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.
Starting Page	227
Ending Page	232
File Size	1573558
Page Count	6
File Format	PDF
ISBN	9781424434916
DOI	10.1109/ICNSC.2009.4919277
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-03-26
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Wireless sensor networks Robot sensing systems Sensor systems Intelligent sensors Robot kinematics Indoor environments Radio navigation Wireless communication Pervasive computing
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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