Navigation of Mobile Robots in Hybrid Sensor Network
ZHANG Zheng1, LI Zhenbo1, HU Shouwei2, WANG Wei2, CHEN Jiapin1
1. Key Laboratory for Thin Film and Microfabrication of Ministry of Education, Shanghai Jiao Tong University, Shanghai 200240, China;
2. The First Engineers Scientific Research Institute of the Chinese PLA General Armament Department, Wuxi 214035, China
In a hybrid sensor network consisting of static nodes and mobile nodes, the mobile nodes are mobile robots equipped with wireless sensor modules. In this paper, a novel navigation method based on iterative maximum a posteriori estimation is proposed to enable the mobile nodes to navigate only using the received signal strength indication (RSSI) and odometry in hybrid sensor network without a prior location information about the randomly deployed static nodes. Therefore, our scheme has advantages of cost-effectiveness and easy deployment. The simulations and experiments show the performance and validity of the proposed scheme for navigation of mobile robots in outdoor field.
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