Tracking Mobile Robot in Indoor Wireless Sensor Networks

Abstract EN

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.