Range-based Navigation System for a Mobile Robot

Abstract

In this paper we present an algorithm for path planning in a fixed range-only beacon field. We define and calculate entropy values for regions of interest and provide a method for finding "safe," low-entropy paths between regions. We go on to describe a robotic system for performing range-based localization experiments, developed using inexpensive off-the-shelf components. Our system uses a commercial robot as a mobile platform and custom acoustic beacons for ranging.