A distributed algorithm for mobile robot localization and mapping in wireless sensor networks

Rex Wong, Sheng Hu, Flavio Cabrera, Jizhong Xiao, Jindong Tan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations

Abstract

This paper presents a navigation and mapping technique that integrates the global view of a wireless sensor network and the local advance sensing of mobile robots. Search and rescue missions rely on robots that can successfully navigate through an indoor environment which may be undefined and filled with unpredictable obstacles. The onboard sensors and local navigation schemes can provide obstacle avoidance and help robots navigate locally, but not for a long distant goal due to lack of global knowledge and problems of local minima. Therefore some help from the environment were proposed in many previous works such as visual landmarks, or radio signal transmitted from Wi-Fi beacons or wireless sensor networks. The latter, which involves many sensor nodes, if deployed in well-organized formation, can serve as signposts that will help mobile robots for navigation. Hence the need for a predefined map can be eliminated. By utilizing robots on-board sensors to process the received data from near-by nodes and combining it with the on-board sensed data, the algorithm we propose will provide the ad hoc SLAM capability to both robots and wireless sensor network which in turn can guide the robot to its destination at the same time.

Original languageEnglish (US)
Title of host publicationProceedings of the 2008 IEEE International Conference on Information and Automation, ICIA 2008
Pages560-566
Number of pages7
DOIs
Publication statusPublished - Oct 27 2008
Event2008 IEEE International Conference on Information and Automation, ICIA 2008 - Zhangjiajie, Hunan, China
Duration: Jun 20 2008Jun 23 2008

Publication series

NameProceedings of the 2008 IEEE International Conference on Information and Automation, ICIA 2008

Other

Other2008 IEEE International Conference on Information and Automation, ICIA 2008
CountryChina
CityZhangjiajie, Hunan
Period6/20/086/23/08

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All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Information Systems

Cite this

Wong, R., Hu, S., Cabrera, F., Xiao, J., & Tan, J. (2008). A distributed algorithm for mobile robot localization and mapping in wireless sensor networks. In Proceedings of the 2008 IEEE International Conference on Information and Automation, ICIA 2008 (pp. 560-566). [4608063] (Proceedings of the 2008 IEEE International Conference on Information and Automation, ICIA 2008). https://doi.org/10.1109/ICINFA.2008.4608063