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Sensors 2011, 11(11), 10820-10839; doi:10.3390/s111110820
Article

Fuzzy Mobile-Robot Positioning in Intelligent Spaces Using Wireless Sensor Networks

 and *
Received: 18 September 2011; in revised form: 1 November 2011 / Accepted: 14 November 2011 / Published: 17 November 2011
(This article belongs to the Special Issue Sensorial Systems Applied to Intelligent Spaces)
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Abstract: This work presents the development and experimental evaluation of a method based on fuzzy logic to locate mobile robots in an Intelligent Space using Wireless Sensor Networks (WSNs). The problem consists of locating a mobile node using only inter-node range measurements, which are estimated by radio frequency signal strength attenuation. The sensor model of these measurements is very noisy and unreliable. The proposed method makes use of fuzzy logic for modeling and dealing with such uncertain information. Besides, the proposed approach is compared with a probabilistic technique showing that the fuzzy approach is able to handle highly uncertain situations that are difficult to manage by well-known localization methods.
Keywords: fuzzy logic; self-localization; autonomous robots; intelligent spaces; wireless sensor networks fuzzy logic; self-localization; autonomous robots; intelligent spaces; wireless sensor networks
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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MDPI and ACS Style

Herrero, D.; Martínez, H. Fuzzy Mobile-Robot Positioning in Intelligent Spaces Using Wireless Sensor Networks. Sensors 2011, 11, 10820-10839.

AMA Style

Herrero D, Martínez H. Fuzzy Mobile-Robot Positioning in Intelligent Spaces Using Wireless Sensor Networks. Sensors. 2011; 11(11):10820-10839.

Chicago/Turabian Style

Herrero, David; Martínez, Humberto. 2011. "Fuzzy Mobile-Robot Positioning in Intelligent Spaces Using Wireless Sensor Networks." Sensors 11, no. 11: 10820-10839.



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