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Autonomous Robot Localization Using WiFi Fingerprinting

By Alex Wright and Terrence Bunkley Mentored by Dr. Kamesh Namaduri College of Engineering Department of Computer Science and Engineering Department of Electrical Engineering . Autonomous Robot Localization Using WiFi Fingerprinting. Introduction. Background Purpose Hypothesis.

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Autonomous Robot Localization Using WiFi Fingerprinting

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  1. By Alex Wright and Terrence Bunkley Mentored by Dr. Kamesh Namaduri College of Engineering Department of Computer Science and Engineering Department of Electrical Engineering Autonomous Robot Localization Using WiFi Fingerprinting

  2. Introduction • Background • Purpose • Hypothesis

  3. Background • What got us interested? • Why not use GPS? • What are the possible wireless localization methods?

  4. Purpose and Hypothesis • The purpose of this project is to determine the location of autonomous robots using the wireless signals (802.11 n). • We believe that the locations of the robots can be determined best using the Fingerprinting Method

  5. Research • Materials • Methodology • Problems

  6. Materials • 4 Autonomously controlled Garcia robots • Red, Blue, White, and Orange • 2 Computers • Linux, Windows XP • Wireless AP’s at UNT Discovery Park • 802.11 n

  7. Methodology • Create a Grid-based layout • Take 10 scans of the RSSI signal • Repeat for every point mapped

  8. Problems • Time consuming • Fluctuating wireless signals • Not as accurate as expected

  9. Results • Results • Conclusion • Questions

  10. Results • We were able to locate the robots through WiFi signals using the Fingerprint method. • We were able to develop heat maps showing the areas where signal strength is greatest. • Created programming algorithm that allows the robots to autonomously navigate to a single relative location.

  11. Localization • Algorithm analyzes RSSI data sent from robot and compute s point

  12. Heat Maps • Second floor lobby the west side of Discovery Park

  13. Heat Maps • Embedded Systems Lab

  14. Conclusion • The location of devices are able to be located using wireless signals. • An open area would be ideal because objects absorb the signals. • A consistent transmit power should be used to improve accuracy.

  15. Any Questions?

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