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Use Of Wireless Signal Characteristics For Mobile Robotics Localization And Access Point Mapping

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Use Of Wireless Signal Characteristics For Mobile Robotics Localization And Access Point Mapping

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dc.contributor.author Davies, Joshua en_US
dc.date.accessioned 2009-09-16T18:20:15Z
dc.date.available 2009-09-16T18:20:15Z
dc.date.issued 2009-09-16T18:20:15Z
dc.date.submitted January 2008 en_US
dc.identifier.other DISS-10100 en_US
dc.identifier.uri http://hdl.handle.net/10106/1841
dc.description.abstract Mobile robotics is an interesting and challenging emerging field in computer science.To properly achieve true autonomy, a robot must be able to determine where it is in relationshipto a global frame of reference and it must be able to do so with a minimum of interaction fromhuman operators and impose as few constraints on its surroundings as possible. The uncertainnature of mobility and perception requires that advanced probabilistic inference techniques beapplied to minimize error. This work examines the applicability of radio-frequency signals to the mobile robotlocalization problem to localize quickly over a wide area. Particle filtering techniques areemployed to adjust for anticipated errors in both the motion model and the perception model.Radio hardware designed to capture time of flight and received signal-strength indicators (RSSI)is used to infer relative distances and triangulate the most likely position of a mobile node,taking into account a priori knowledge about past poses. en_US
dc.description.sponsorship Kamangar, Farhad en_US
dc.language.iso EN en_US
dc.publisher Computer Science & Engineering en_US
dc.title Use Of Wireless Signal Characteristics For Mobile Robotics Localization And Access Point Mapping en_US
dc.type M.S. en_US
dc.contributor.committeeChair Kamangar, Farhad en_US
dc.degree.department Computer Science & Engineering en_US
dc.degree.discipline Computer Science & Engineering en_US
dc.degree.grantor University of Texas at Arlington en_US
dc.degree.level masters en_US
dc.degree.name M.S. en_US
dc.identifier.externalLink http://www.uta.edu/ra/real/editprofile.php?onlyview=1&pid=191
dc.identifier.externalLinkDescription Link to Research Profiles

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