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By Alex Wright and Terrence Bunkley Mentored by Dr. Kamesh Namaduri College of Engineering Department of Computer Science and Engineering Department of Electrical Engineering . Autonomous Robot Localization Using WiFi Fingerprinting. Introduction. Background Purpose Hypothesis.
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By Alex Wright and Terrence Bunkley Mentored by Dr. Kamesh Namaduri College of Engineering Department of Computer Science and Engineering Department of Electrical Engineering Autonomous Robot Localization Using WiFi Fingerprinting
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.