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Sensors 2015, 15(5), 10194-10220;

Mobile Robot Positioning with 433-MHz Wireless Motes with Varying Transmission Powers and a Particle Filter

CITIUS, University of Santiago de Compostela, R/ Jenaro de la Fuente Dominguez s/n, 15782 Santiago de Compostela, Spain
Situm Technologies S. L. R/ de Lope Gomez de Marzoa s/n. Edif. Feuga Desp. 16. 17505 Santiago de Compostela, Spain
Electronics Department, University of Alcala, Carretera Madrid-Barcelona Km 33.600, 28871 Alcala de Henares (Madrid), Spain
Department of Electronics and Systems, University of A Coruña, Campus de Elviña s/n, 15071 A Coruña, Spain
Author to whom correspondence should be addressed.
Academic Editor: Kourosh Khoshelham
Received: 11 March 2015 / Revised: 23 April 2015 / Accepted: 27 April 2015 / Published: 30 April 2015
(This article belongs to the Special Issue Sensors for Indoor Mapping and Navigation)
Full-Text   |   PDF [5519 KB, uploaded 30 April 2015]


In wireless positioning systems, the transmitter’s power is usually fixed. In this paper, we explore the use of varying transmission powers to increase the performance of a wireless localization system. To this extent, we have designed a robot positioning system based on wireless motes. Our motes use an inexpensive, low-power sub-1-GHz system-on-chip (CC1110) working in the 433-MHz ISM band. Our localization algorithm is based on a particle filter and infers the robot position by: (1) comparing the power received with the expected one; and (2) integrating the robot displacement. We demonstrate that the use of transmitters that vary their transmission power over time improves the performance of the wireless positioning system significantly, with respect to a system that uses fixed power transmitters. This opens the door for applications where the robot can localize itself actively by requesting the transmitters to change their power in real time. View Full-Text
Keywords: wireless localization;WiFi localization; motes; particle filters; robot localization wireless localization;WiFi localization; motes; particle filters; robot localization
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 (CC BY 4.0).

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Canedo-Rodriguez, A.; Rodriguez, J.M.; Alvarez-Santos, V.; Iglesias, R.; Regueiro, C.V. Mobile Robot Positioning with 433-MHz Wireless Motes with Varying Transmission Powers and a Particle Filter. Sensors 2015, 15, 10194-10220.

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