Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Path Planning of a Mobile Robot Using RF Strength in Sensor Networks

센서 네트워크를 활용한 모바일 로봇의 Path Planning

  • Wee, Sung-Gil (Gyeongbuk Research Institute of Vehicle Embedded Technology, GIVET) ;
  • Kim, Yoon-Gu (Daegu Gyeongbuk Institute of Science & Technology, DGIST) ;
  • Lee, Ki-Dong (Department of Computer Science, Yeungnam Univ.) ;
  • Choi, Jung-Won (Department of Electronic Engineering, Kumoh National Univ.) ;
  • Park, Ju-Hyun (Department of Electrical Engineering, Yeungnam Univ.) ;
  • Lee, Suk-Gyu (Department of Electrical Engineering, Yeungnam Univ.)
  • 위성길 ((재)경북차량용임베디드기술연구원) ;
  • 김윤구 (대구경북과학기술원) ;
  • 이기동 (영남대학교 컴퓨터공학과) ;
  • 최정원 (금오공과대학 전자공학과) ;
  • 박주현 (영남대학교 전기공학과) ;
  • 이석규 (영남대학교 전기공학과)
  • Published : 2009.02.25
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Abstract

This paper proposes a novel path finding approach of a mobile robot using RF strength in sensor network. In the experiments based on the proposed method, a mobile robot attempts to find its location, heading direction and the shortest path in the indoor environment. The experimental system consisting of mesh network shares node data and send them to base station. The triangulation and the proposed Grid method calculate the location and heading angle of the robot. In addition, the robot finds the shortest path by using the base station attached on it to receive data of environment around each node. Kalman filter reduces the straight line error when the robot estimates the strength of received signal. The experimental results show the effectiveness of the proposed algorithm.

Keywords

References

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