Abstract
Autonomous mobile robots guided by a set of inter-connected RF sensors present a interesting scenario of vehicle localization and navigation. We investigate the feasibility of a novel RF sensing based method to address the target and robot localization for situations when conventional localization means fail to deliver. Our method allows the robot to discover the location of a target sensor and execute a navigate plan using the networked RF beacon nodes. The location of the target sensor is estimated by matching the beacon observations against an RF map. A particle filtering algorithm is used to track the location of target sensor node. The algorithm demonstrates a beyond-the-grid accuracy even only a coarse RF map is used.
J. Wang—This work was supported by NSF under Award Award No. 1040254, The National Natural Science Fundation of China No. 61271370, and the Project of Construction of Innovative Teams and Teacher Career Development for Universities and Colleges under Beijing Municipality IDHT20140508.
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Wang, J., Liu, H., Bao, H., Bennett, B., Flores-Montoya, C. (2015). Target Localization and Navigation with Directed Radio Sensing in Wireless Sensor Networks. In: Hsu, CH., Xia, F., Liu, X., Wang, S. (eds) Internet of Vehicles - Safe and Intelligent Mobility. IOV 2015. Lecture Notes in Computer Science(), vol 9502. Springer, Cham. https://doi.org/10.1007/978-3-319-27293-1_10
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DOI: https://doi.org/10.1007/978-3-319-27293-1_10
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