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Proceedings Paper

Navigation of robotic system using cricket motes
Author(s): Yogendra J. Patil; Nicholas A. Baine; Kuldip S. Rattan
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Paper Abstract

This paper presents a novel algorithm for self-mapping of the cricket motes that can be used for indoor navigation of autonomous robotic systems. The cricket system is a wireless sensor network that can provide indoor localization service to its user via acoustic ranging techniques. The behavior of the ultrasonic transducer on the cricket mote is studied and the regions where satisfactorily distance measurements can be obtained are recorded. Placing the motes in these regions results fine-grain mapping of the cricket motes. Trilateration is used to obtain a rigid coordinate system, but is insufficient if the network is to be used for navigation. A modified SLAM algorithm is applied to overcome the shortcomings of trilateration. Finally, the self-mapped cricket motes can be used for navigation of autonomous robotic systems in an indoor location.

Paper Details

Date Published: 24 May 2011
PDF: 13 pages
Proc. SPIE 8061, Wireless Sensing, Localization, and Processing VI, 80610J (24 May 2011); doi: 10.1117/12.884343
Show Author Affiliations
Yogendra J. Patil, Wright State Univ. (United States)
Nicholas A. Baine, Wright State Univ. (United States)
Kuldip S. Rattan, Wright State Univ. (United States)

Published in SPIE Proceedings Vol. 8061:
Wireless Sensing, Localization, and Processing VI
Sohail A. Dianat; Michael David Zoltowski, Editor(s)

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