Mobile robot navigation using RSSI potential field in wireless sensor network

Abstract

Navigation is one of the most fundamental problems in the realm of mobile robot research. In this paper, it is combined with wireless sensor network (WSN) and based on the received signal strength indicator potential filed (RSSI-PF) in WSN, a new method is presented to help a mobile robot move from its initial position to the destination. The navigation scheme proposed in this paper is localization-free as well as range-free, only taking use of the RSSI information of the wireless sensor nodes in the navigation path. So, unlike many other navigation schemes, range measurement and robot localization are not required here. Simulation results show that our approach is well-performed and the robot can be guided from the initial location to the destination quickly and smoothly.