Experimental design and analysis in kinematic-based localization in wireless mobile platform network

Abstract

This paper presents a novel low-cost micro mobile robotic platform which can be used as a part of the research and development in sensor and networked-based dynamical system for indoor applications. The proposed set-up can be integrated as a part of the sensor fusion for localization of mobile agents in complement with information from the camera network. This platform utilizes both RSSI and inertial localization, which offers a suitable platform for study and development of simultaneous localization and mapping algorithms (SLAM) for indoor application. The paper also presents some experimental studies which demonstrate the feasibility of our proposed platform.