Ad-Hoc Communication and Localization System for Mobile Robots

Authors:
Bernd Neuwinger;Ulf Witkowski;Ulrich Rückert
Affiliations:
System and Circuit Technology, Heinz Nixdorf Institute, University of Paderborn, Paderborn, Germany;Electronics and Circuit Technology, South Westphalia University of Applied Sciences, Soest, Germany;System and Circuit Technology, Heinz Nixdorf Institute, University of Paderborn, Paderborn, Germany
Venue:
Proceedings of the FIRA RoboWorld Congress 2009 on Advances in Robotics
Year:
2009

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Abstract

Robots exploring unknown territory cannot rely on fixed infrastructure for communication and localization purposes. Therefore an ad-hoc communication and localization system is required to provide such facilities. In this paper a solution for a radio based localization system is presented using a 2.4 GHz wireless radio transceiver based on Chirp Spread Spectrum (CSS) modulation, which allows distance measurements by evaluating the signal propagation delay. Using odometry data as additional information source a communication and positioning system is developed fulfilling ad-hoc demands.