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http://dx.doi.org/10.5391/JKIIS.2008.18.2.163

Indoor Location Estimation and Navigation of Mobile Robots Based on Wireless Sensor Network and Fuzzy Modeling  

Kim, Hyun-Jong (㈜파워엠엔씨)
Kang, Guen-Taek (부경대학교 전자컴퓨터정보통신공학부)
Lee, Won-Chang (부경대학교 전자컴퓨터정보통신공학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.18, no.2, 2008 , pp. 163-168 More about this Journal
Abstract
Navigation system based on indoor location estimation is one of the core technologies in mobile robot systems. Wireless sensor network has great potential in the indoor location estimation due to its characteristics such as low power consumption, low cost, and simplicity. In this paper we present an algorithm to estimate the indoor location of mobile robot based on wireless sensor network and fuzzy modeling. ZigBee-based sensor network usually uses RSSI(Received Signal Strength Indication) values to measure the distance between two sensor nodes, which are affected by signal distortion, reflection, channel fading, and path loss. Therefore we need a proper correction method to obtain accurate distance information with RSSI. We develop the fuzzy distance models based on RSSI values and an efficient algorithm to estimate the robot location which applies to the navigation algorithm incorporating the time-varying data of environmental conditions which are received from the wireless sensor network.
Keywords
Location estimation; Sensor network; ZigBee; Fuzzy model; RSSI;
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