抄録
This paper discusses how autonomous mobile robots know the relative positions of others. We suggest the use of wireless communication modules for estimating the positions of others. The magnitude of the received signal strength indicator (RSSI) in wireless communication relates to the distance between the receiver and source. It offers a key to enabling position estimation by measuring the RSSI value around a robot with wireless modules. First, we propose a direction estimation method based only on comparison of RSSI values of multiple positions. Next, we develop the robot that has two XBee wireless communication modules mounted on the ends of the rotating arm. Finally, we evaluate the precision of the proposed method through some experiments using the robot. Experimental results indicate that the robot could estimate the rough direction of the target robot with the precision of approximately ±45 [deg].
