Position Estimation of Robotic Mobile Nodes in Wireless Testbed using GENI

TL;DR

This paper introduces a low complexity RF-based indoor localization system for robotic mobile nodes using WiFi RSSI signals and multi-lateration, tested in a controlled wireless testbed with GENI integration, achieving accuracy between 0.65 and 5 meters.

Contribution

The paper presents a simple, effective indoor localization method for robots using WiFi RSSI signals and a multi-lateration algorithm within a GENI-enabled testbed environment.

Findings

Localization accuracy ranges from 0.65 to 5 meters.

The proposed method is low complexity and suitable for indoor robotic applications.

Validation conducted in a real indoor wireless testbed.

Abstract

We present a low complexity experimental RF-based indoor localization system based on the collection and processing of WiFi RSSI signals and processing using a RSS-based multi-lateration algorithm to determine a robotic mobile node's location. We use a real indoor wireless testbed called w-iLab.t that is deployed in Zwijnaarde, Ghent, Belgium. One of the unique attributes of this testbed is that it provides tools and interfaces using Global Environment for Network Innovations (GENI) project to easily create reproducible wireless network experiments in a controlled environment. We provide a low complexity algorithm to estimate the location of the mobile robots in the indoor environment. In addition, we provide a comparison between some of our collected measurements with their corresponding location estimation and the actual robot location. The comparison shows an accuracy between 0.65 and 5 meters.