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Path Planning of a Mobile Robot Using RF Strength in Sensor Networks  

Wee, Sung-Gil (Gyeongbuk Research Institute of Vehicle Embedded Technology, GIVET)
Kim, Yoon-Gu (Daegu Gyeongbuk Institute of Science & Technology, DGIST)
Lee, Ki-Dong (Department of Computer Science, Yeungnam Univ.)
Choi, Jung-Won (Department of Electronic Engineering, Kumoh National Univ.)
Park, Ju-Hyun (Department of Electrical Engineering, Yeungnam Univ.)
Lee, Suk-Gyu (Department of Electrical Engineering, Yeungnam Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.26, no.2, 2009 , pp. 63-70 More about this Journal
Abstract
This paper proposes a novel path finding approach of a mobile robot using RF strength in sensor network. In the experiments based on the proposed method, a mobile robot attempts to find its location, heading direction and the shortest path in the indoor environment. The experimental system consisting of mesh network shares node data and send them to base station. The triangulation and the proposed Grid method calculate the location and heading angle of the robot. In addition, the robot finds the shortest path by using the base station attached on it to receive data of environment around each node. Kalman filter reduces the straight line error when the robot estimates the strength of received signal. The experimental results show the effectiveness of the proposed algorithm.
Keywords
RF Strength; Sensor Network; Shortest Path Finding; Triangulation Method; Grid Method;
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Times Cited By KSCI : 1  (Citation Analysis)
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