Indoor robot navigation using a POMDP based on WiFi and ultrasound observations
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(0) (0 Votes)Views: (2000) Date: (Publication Date: 2-6 Aug. 200...) Pages: () -
Author: Ocana M. Bergasa L.M. Sotelo M.A. Flores R. Dept. of Electron. Alcala Univ. Madrid Spain;
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Abstract: Abstract This paper presents a robot navigation system for indoor environments using a partially observable Markov decision process (POMDP) based on WiFi signal strength and ultrasound observations. The paper represents the first one in using WiFi sensor readings as an observation in a POMDP. We present an algorithm based on an EM-SLAM that we called WSLAM (Wifi simultaneous localization and mapping) that is able to learn the observation and transition matrix in autonomous mode. With this algorithm we obtain a minimum calibration effort. We demonstrate that this system is useful to navigate in indoor environments with a real robot. Some experimental results are shown. Finally, the conclusions and future works are presented.
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