Use of RSSI for motion control of wirelessly networked robot swarm
Use of RSSI for motion control of wirelessly networked robot swarm
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DOI：
10.1109/rose.2008.4669187
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发表时间：
2008-11
期刊：
影响因子：
--
通讯作者：
T. Ishimoto;S. Hara
中科院分区：
文献类型：
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作者：
T. Ishimoto;S. Hara
对于无线网络化的机器人群，为了作为一个组完成统一的任务，需要在所有成员机器人之间生成一组公共坐标，并通知每个成员机器人在所生成的公共坐标中的前进方向。然而，当成员机器人没有配备传感器来识别它们的位置或方位时，它们可以仅使用无线通信协议中的函数将它们联网，作为生成它们之间的一组公共坐标的工具。本文概述了一组共同的坐标和航向产生方法的无线网络机器人群体与RSSI（接收信号强度指标，即接收功率）通过无线通信测量和实验结果显示在室内和室外环境中的位置和航向估计误差。
For a wirelessly networked robot swarm, to accomplish a unified task as a group, it is necessary to generate a set of common coordinates among all member robots and to notify each member robot of its heading direction in the generated common coordinates. However, when the member robots are not equipped with sensors to identify their locations or bearings, they can use only a function in the wireless communication protocol to network them as a tool to generate a set of common coordinates among them. This paper outlines a set of common coordinates and a heading direction generation method for a wirelessly networked robot swarm with RSSI (Received Signal Strength Indicator, namely, received power) measured through wireless communications and shows experimental results on the location and heading direction estimation errors in indoor and outdoor environments.