1A2-E10 携帯電話の受信強度を用いた自己位置推定の基礎的検討

抄録

In this paper, we purposed we a new approach for robot Self-Localization in indoor and outdoor. The approach is based on RSSI of mobile phone. First, we repeated experiment six times that is RSSI reproducibility measurement of PHS when the robot was moved 1000 mm in straight. Second, we measured RSSI of PHS in 2D small area (300mm×300mm). The result shows recognized RSSI of PHS in different environments and it is able to Self-Localization with high-resolution and sufficient accuracy. Alternatively, it make a RSSI map, we could detect a change of RSSI in 2D small area. The experimental results indicate that the robot is possible to localize accurately based on our proposed method and by applying the localization result to compensate the odometry, the cumulative error can be eliminated.