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Mobile Robot Navigation Using Wireless Sensor Networks Without Localization Procedure

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Abstract

In this paper, algorithms for navigating a mobile robot through wireless sensor networks are presented. The mobile robot can navigate without the need for a map, compass, or GPS module while interacting with neighboring sensor nodes. Two navigation algorithms are proposed in this paper: the first uses the distance between the mobile robot and each sensor node and the second uses the metric calculated from one-hop neighbors’ hop-counts. Periodically measuring the distance or metric, the mobile robot can move toward a point where these values become smaller and finally come to reach the destination. These algorithms do not attempt to localize the mobile robot for navigation, therefore our approach permits cost-effective robot navigation while overcoming the limitations of traditional navigation algorithms. Through a number of experiments and simulations, the performance of the two proposed algorithms is evaluated.

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Abbreviations

RSS:

Received signal strength

TDoA:

Time difference of arrival

ToA:

Time of arrival

HC:

Hop count

ANHC:

Average of neighbors’ hop count

LANHC:

Least ANHC

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Authors and Affiliations

  1. School of Electrical and Electronics Engineering, Korea University, #1-5 ga, Anam-dong, Sungbuk-gu, Seoul, Korea

    Woo-Yong Lee, Doo-Seop Eom & Jong-Ok Kim

  2. Department of Computer Education, Gyeongin National University of Education, Gyesan-Dong San 59-12, 45 Gyodae-Gil, Gyeyang-Gu, 407-753, Incheon, Korea

    Kyeong Hur

  3. Department of Embedded System Engineering, University of Incheon, Incheon, Republic of Korea

    Kwang-il Hwang

Authors
  1. Woo-Yong Lee
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  2. Kyeong Hur
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  3. Kwang-il Hwang
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  4. Doo-Seop Eom
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  5. Jong-Ok Kim
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Corresponding author

Correspondence to Kyeong Hur.

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Lee, WY., Hur, K., Hwang, Ki. et al. Mobile Robot Navigation Using Wireless Sensor Networks Without Localization Procedure. Wireless Pers Commun 62, 257–275 (2012). https://doi.org/10.1007/s11277-010-0052-2

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  • DOI: https://doi.org/10.1007/s11277-010-0052-2

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