Implementation of a Mobile Robot Tracking System Using RSS Measurements

• Main Authors: Shin-Hua Su, 蘇信華
• Other Authors: Jyh-Ching Juang
• Format: Others
• Language: zh-TW
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/04660915844770671335

碩士 === 國立成功大學 === 電機工程學系專班 === 97 === Recently, Wireless sensor networks have been applied to home care and environmental monitoring systems to provide many context-aware services. In addition to the sensor networks, it is anticipated that future e-home will feature mobile robots to facilitate interactive services. The thesis attempts to establish a personal tracking robot system based on sensor networks and mobile robot techniques. In the thesis, sensor network nodes are installed in the robots to provide data communication and range measurement capabilities. The range measurements are based on the readily available received signal strength (RSS) data. The mobile robot is then capable of tracking the person by manipulating the RSS measurements. Two different robot platforms are investigated to assess the robustness of the proposed RSS-based approach. The measurement and control techniques are verified both indoor and out-door. The technique which can be implemented in a low cost will be beneficial to future human-robot interactions.