A Study on the Implementation of Home Wellness Robot Self-Localization Using RSSI and Trilateration

Abstract

This paper develops the design technology of a sensing platform for the HWR to perform a role of both health and life care in an aging society. The localization of indoor mobile robot is so important for its elaborate trajectory control. We set research focus on self-localization in this paper. The RF sensor network system is installed to improve its self-localization ability so that the HWR can identify its own location and track the path very well. A fusion algorithm using RSSI(Received Signal strength indication) and trilateration is also proposed for the agile self-localization. It is implemented by new configuration of novel sensing architecture and embedded software. Finally, we confirm its good performance through the resultant data of live tests.