RT Journal Article
T1 Mobile Robot Positioning with 433-MHz Wireless Motes with Varying Transmission Powers and a Particle Filter
A1 Canedo Rodríguez, Adrián
A1 Rodríguez, José Manuel
A1 Álvarez Santos, Víctor
A1 Iglesias Rodríguez, Roberto
A1 Vázquez Regueiro, Carlos
K1 Wireless localization
K1 WiFi localization
K1 Motes
K1 Particle filters
K1 Robot localization
AB 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
PB MDPI
SN 1424-8220
YR 2015
FD 2015
LK http://hdl.handle.net/10347/17707
UL http://hdl.handle.net/10347/17707
LA eng
NO 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
NO This work was supported by the research project TIN2012-32262, the grant BES-2010-040813 FPI-MICINN and by the Galician Government (Xunta de Galicia) under the Consolidation Program of Competitive Reference Groups, co-funded by FEDER funds of the EU (Ref. GRC2013/055
DS Minerva
RD 23 abr 2026