Indoor Robot Localization System Using WiFi Signal Measure and Minimizing Calibration Effort

摘要

This paper presents a robot localization system for indoor environments using WiFi signal strength measure.We analyse the main causes of the WiFi signal strength variation and we experimentally demonstrate that a localization technique based on a propagation model doesn't work properly in our test-bed.We have carried out a localization system based on a priori radio-map obtained automatically from a robot navigation in the environment in a semi-autonomous way.We analyse the effect of reducing calibration effort in order to diminish practical barriers to wider adoption of this type of location measurement technique.Experimental results using a real robot moving are shown.Finally, the conclusions and future works are presented.