Experiments in Monte-Carlo Localization using WiFi Signal Strength

摘要

We study the problem of globally localizing a mobile robot in a structured environment given an 802.11b card on the robot, one or more 802.11b access points (APs) in the environment and a signal-strength map. The method for acquiring this map is described. A particle filter-based algorithm is implemented with an odometry-based action model and an observation model based on the signalstrength map. Tests carried out using a Pioneer 2DX robot with a wireless card show promising results. Localization is accurate a significant percentage of the time. We test the algorithm with one, two and three APs for observations and show empirically that improved results are obtained with a higher number of APs. 1