T}raining Method Improvements of a WiFi Navigation System Based on {POMDP

Ocaña, Manuel; Bergasa, Luis M.; Sotelo, Miguel Ángel; Flores, Ramón F.; López, Elena; Barea, Rafael
Year: 2006
Type of Publication: In Proceedings
Keywords: WiFi navigation system; automatic training method; deterministic map; localization system; partially observable Markov decision process; robust local navigation task; simultaneous localization and mapping techniques; Markov processes; SLAM; control engine
Book title: Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Pages: 5259 -5264
Month: oct.
ISBN: 1-4244-0258-1
DOI: 10.1109/IROS.2006.282024
The framework of this paper is the robotics navigation inside buildings using WiFi signal strength measure. This navigation is achieved using a partially observable Markov decision process (POMDP). In the localization phase we used WiFi signal strength and ultrasound measures as observations. The localization system works in two stages: map construction and localization stage. The map construction stage usually requires a great effort, therefore in this paper we address the problem of minimizing this calibration effort using an automatic training method. We describe the method based on simultaneous localization and mapping (SLAM) techniques and in a robust local navigation task. This automatic method is compared with a manual method to obtain a deterministic map. Also we demonstrate that using this one in a on-line training stage the system is able to adapt the WiFi map to the variations of the WiFi signal measure. Additionally, we analyze the optimal parameters for this automatic training system. The system has been tested in a real environment using two commercial robotic platforms. Some experimental results and the conclusions are presented
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