Navigation of Mobile Robots in Hybrid Sensor Network

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.