An RSSI-Based Localization, Path Planning and Computer Vision-Based Decision Making Robotic System

摘要

A robotic navigation system operates flawlessly under an adequate GPS signal range, whereas indoor navigation systems use the simultaneous localization and mapping system or other vision-based localization systems. The sensor used in indoor navigation systems is not suitable for low power and small scale robotic systems. The wireless area network transmitting devices have fixed transmission power, and the receivers get the different values of signal strength based on their surrounding environments. In the proposed method, the received signal strength index (RSSI) values of three fixed transmitter units are measured every 1.6 m in mesh format and analyzed by the classifiers, and robot position can be mapped in the indoor area. After navigation, the robot analyzes objects and detects and recognize human faces with the help of object recognition and facial recognition-based classification methods respectively. This robot detects the intruder with the current position in an indoor environment.