W}iFi global localization system and its application in a navigation system based on {POMDP

Ocaña, Manuel; Bergasa, Luis M.; Sotelo, Miguel Ángel; Flores, Ramón F.
Year: 2005
Type of Publication: Article
Journal: CEUR workshop proceedings
Volume: 132
Number: 15
Pages: 15.1-15.16
Month: May
ISSN: 1613-0073
This paper presents a global localization system based on WiFi (Wireless-Fidelity) signal strength measure with priori map and its application to a navigation system based on a Partially Observable Markov Decision Process (POMDP). The POMDP navigation system uses the observations of the WiFi signal measure and ultrasounds of the robot and it achieves a global localization from the first iteration of the algorithm without needing additional sensors in the environment, since the WiFi main functionality is to establish a Wireless Local Area Network (WLAN). This paper presents a novel algorithm called WSLAM (WiFi Simultaneous Localization And Mapping) to solve the initial calibration stage.
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