by alex wright and terrence bunkley mentored by dr. kamesh namaduri college of engineering...
Post on 12-Jan-2016
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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?
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