Autonomous Robot Localization Using WiFi

Fingerprinting

By Alex Wright and Terrence Bunkley

Mentored by Dr. Kamesh Namaduri

College of EngineeringDepartment of Computer Science and Engineering

Department of Electrical Engineering

Introduction

Background

Purpose

Hypothesis

Background

What got us interested?

Why not use GPS?

What are the possible wireless localization methods?

Purpose and Hypothesis

The purpose of this project is to determine the location of autonomous robots using the wireless signals (802.11 n).

We believe that the locations of the robots can be determined best using the Fingerprinting Method

Research

Materials

Methodology

Problems

Materials

4 Autonomously controlled Garcia robots Red, Blue, White, and Orange

2 Computers Linux, Windows XP

Wireless AP’s at UNT Discovery Park 802.11 n

Methodology

Create a Grid-based layout

Take 10 scans of the RSSI signal

Repeat for every point mapped

Problems

Time consuming

Fluctuating wireless signals

Not as accurate as expected

Results

Results

Conclusion

Questions

Results

We were able to locate the robots through WiFi signals using the Fingerprint method.

We were able to develop heat maps showing the areas where signal strength is greatest.

Created programming algorithm that allows the robots to autonomously navigate to a single relative location.

Localization

Algorithm analyzes RSSI data sent from robot and compute s point

Heat Maps

Second floor lobby the west side of Discovery Park

Heat Maps

Embedded Systems Lab

Conclusion

The location of devices are able to be located using wireless signals.

An open area would be ideal because objects absorb the signals.

A consistent transmit power should be used to improve accuracy.

Any Questions?