Comparison of WiFi map construction methods for WiFi POMDP navigation systems

Authors:
Manuel Ocaña;Luis Miguel Bergasa;Miguel Ángel Sotelo;Ramón Flores;Elena López;Rafael Barea
Affiliations:
Department of Electronics, University of Alcala, Madrid, Spain;Department of Electronics, University of Alcala, Madrid, Spain;Department of Electronics, University of Alcala, Madrid, Spain;Department of Electronics, University of Alcala, Madrid, Spain;Department of Electronics, University of Alcala, Madrid, Spain;Department of Electronics, University of Alcala, Madrid, Spain
Venue:
EUROCAST'07 Proceedings of the 11th international conference on Computer aided systems theory
Year:
2007

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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.