Navigation of robotic system using cricket motes

Yogendra J. Patil; Nicholas A. Baine; Kuldip S. Rattan

doi:10.1117/12.884343

24 May 2011 Navigation of robotic system using cricket motes

Yogendra J. Patil, Nicholas A. Baine, Kuldip S. Rattan

Proceedings Volume 8061, Wireless Sensing, Localization, and Processing VI; 80610J (2011) https://doi.org/10.1117/12.884343
Event: SPIE Defense, Security, and Sensing, 2011, Orlando, Florida, United States

Abstract

This paper presents a novel algorithm for self-mapping of the cricket motes that can be used for indoor navigation of autonomous robotic systems. The cricket system is a wireless sensor network that can provide indoor localization service to its user via acoustic ranging techniques. The behavior of the ultrasonic transducer on the cricket mote is studied and the regions where satisfactorily distance measurements can be obtained are recorded. Placing the motes in these regions results fine-grain mapping of the cricket motes. Trilateration is used to obtain a rigid coordinate system, but is insufficient if the network is to be used for navigation. A modified SLAM algorithm is applied to overcome the shortcomings of trilateration. Finally, the self-mapped cricket motes can be used for navigation of autonomous robotic systems in an indoor location.

Citation Download Citation

Yogendra J. Patil, Nicholas A. Baine, and Kuldip S. Rattan "Navigation of robotic system using cricket motes", Proc. SPIE 8061, Wireless Sensing, Localization, and Processing VI, 80610J (24 May 2011); https://doi.org/10.1117/12.884343

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