Wi-Fi Based Indoor Positioning System For Mobile Robots By Using\n Particle Filter

Abstract

Mobile robots have the capability to work in real-time autonomously.\nAutonomous behavior is strictly dependent on knowing the position of the mobile\nrobot. The positioning of a mobile robot in an indoor area is a difficult task\nfor only one sensor information is used. We proposed a system and method to\nlocate the mobile robot via fusing signals from WIFI and odometer data via\nparticle filter. In this study, the Particle filter is a well-known filter that\nis used for indoor positioning of mobile robots. The proposed system includes\ntwo parts that are RFKON system and evarobot for data collection and\nexperiments. The Received Signal Strength (RSS) measurements of the WiFi access\npoints that are located in any environment are used to locate a stationary\nmobile robot in one floor area via SIS Particle Filter. RSS measurements from\nthe RFKON database are used and the average location error is 0.7606 and 0.1495\nm for 300 and 1000 particles respectively.\n