RSSI Based Path Finding of Mobile Robot in Sensor Network

摘要

We propose a new path finding approach for a mobile robot using the RF strength in a sensor network. In experiments based on the proposed method, a mobile robot finds its location, heading direction, and the shortest path under an indoor environment. The mobile robot is equipped with a base station to receive data from the environment around each node. When the robot moves from one point to another, it checks the strength of the received signal to find its path and uses a Kalman filter to reduce the error of the tangent. The experimental results show the effectiveness and applicability of the proposed method in path finding of a mobile robot.