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Mathematical Problems in Engineering - Volume 2014 2014, Article ID 837050, 8 pages -

Research Article

College of Electronic and Electrical Engineering, Shanghai University of Engineering Science, Song jiang District, Shanghai 201620, China

School of Electrical and Electronic Engineering, The University of Adelaide, Adelaide, SA 5005, Australia

Department of Engineering, Faculty of Engineering and Science, University of Agder, N-4898 Grimstad, Norway

Received 29 October 2013; Accepted 16 December 2013; Published 20 February 2014

Academic Editor: Xiaojie Su

Copyright © 2014 Liping Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This work addresses the problem of tracking mobile robots in indoor wireless sensor networks WSNs. Our approach is based on a localization scheme with RSSI received signal strength indication which is used widely in WSN. The developed tracking system is designed for continuous estimation of the robot’s trajectory. A WSN, which is composed of many very simple and cheap wireless sensor nodes, is deployed at a specific region of interest. The wireless sensor nodes collect RSSI information sent by mobile robots. A range-based data fusion scheme is used to estimate the robot’s trajectory. Moreover, a Kalman filter is designed to improve tracking accuracy. Experiments are provided to assess the performance of the proposed scheme.

Autor: Liping Zhang, Cheng-Chew Lim, Yiping Chen, and Hamid Reza Karimi



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