Comparison of WiFi map construction methods for a WiFi POMDP navigation systems

Ocaña, Manuel; Bergasa, Luis M.; Sotelo, Miguel Ángel; Flores, Ramón F.; López, Elena; Barea, Rafael

Year: 2007

Type of Publication: Article

Keywords: POMDP; WiFi; localization; navigation

Journal: Lecture Notes in Computer Science

Volume: 4739

Number: 2007

Pages: 1216-1222

Month: November

ISSN: 0302-9743

Abstract:

The framework of this paper is the robotics navigation inside buildings using WiFi signal strength measure. In most cases this navigation is achieved using a Partially Observable Markov Decission Process (POMDP). In the localization phase of this process the WiFi signal strength is used as observation. The localization system works in two stages: map construction and localization stage. In this paper we compare three different methods for obtaining the WiFi map in the construction stage. The methods have been tested in a real environment using two commercial robotic platforms. Some experimental results and the conclusions are presented.