Mobile Robot Localization using WLAN Signal Strengths

Localization is a key problem in mobile robotics. This paper presents a method to estimate position and heading of a mobile robot in an indoor scenario. The proposed method for localizing the mobile robot is based on the use of received signal strengths values of WLAN access points in range. A radio map based method and Euclidean distance in combination with interpolation is proposed. Measured signal strength values of an omnidirectional antenna and a beam antenna are compared with the values of the radio map, in order to estimate position and heading of the mobile robot. The paper presents the experimental results of measurements in an office building.