Enabling indoor object localization through Bluetooth beacons on the RADIO robot platform

摘要

Localization is one of the four pillars of the autonomous robotic control loop. In order to work in complete unknown indoor environments, the robot needs to map its surroundings. This is done via the simultaneous localization and mapping (SLAM) algorithm. However, the SLAM algorithm does not provide additional context to the generated map. If this information is required, it needs to be provided by the operator. With Bluetooth Low Energy (BLE) technology, position dependent information can be annotated to the generated map without operator input. BLE beacons need to be positioned at points of interest for the robot and then need to be localized. Because the BLE beacon broadcasts an ID, localization is based on the Received Signal Strength Indication (RSSI). This paper presents an approach to localize BLE beacons in the RADIO indoor environment. The robot has one BLE receiver which must be used cleverly in order to triangulate the BLE beacons position.