Mobile Robot Positioning with 433-MHz Wireless Motes with Varying Transmission Powers and a Particle Filter.
In wireless positioning systems, the transmitter's power is usually fixed. In this paper, we explore the use of varying transmission powers to increase the performance of a wireless localization system. To this extent, we have designed a robot positioning system based on wireless motes. Our motes use an inexpensive, low-power sub-1-GHz system-on-chip (CC1110) working in the 433-MHz ISM band. Our localization algorithm is based on a particle filter and infers the robot position by: (1) comparing the power received with the expected one; and (2) integrating the robot displacement. We demonstrate that the use of transmitters that vary their transmission power over time improves the performance of the wireless positioning system significantly, with respect to a system that uses fixed power transmitters. This opens the door for applications where the robot can localize itself actively by requesting the transmitters to change their power in real time.
CITIUS, University of Santiago de Compostela, R/ Jenaro de la Fuente Dominguez s/n, 15782 Santiago de Compostela, Spain. adrian.canedo@situm.es.|Situm Technologies S. L. R/ de Lope Gomez de Marzoa s/n. Edif. Feuga Desp. 16. 17505 Santiago de Compostela, Spain. adrian.canedo@situm.es.
Adrian
A
Canedo-Rodriguez
Electronics Department, University of Alcala, Carretera Madrid-Barcelona Km 33.600, 28871 Alcala de Henares (Madrid), Spain. jmra@depeca.uah.es.
Jose Manuel
JM
Rodriguez
Situm Technologies S. L. R/ de Lope Gomez de Marzoa s/n. Edif. Feuga Desp. 16. 17505 Santiago de Compostela, Spain. victor@situm.es.
Victor
V
Alvarez-Santos
CITIUS, University of Santiago de Compostela, R/ Jenaro de la Fuente Dominguez s/n, 15782 Santiago de Compostela, Spain. roberto.iglesias.rodriguez@usc.es.
Roberto
R
Iglesias
Department of Electronics and Systems, University of A Coruña, Campus de Elviña s/n, 15071 A Coruña, Spain. cvazquez@udc.es.
Carlos V
CV
Regueiro