Mapping Based on a Noisy Range-Only Sensor

Herranz, Fernando; Ocaña, Manuel; Bergasa, Luis M.; Hernández, Noelia; Llamazares, Ángel; Fernández, Carlos
Year: 2012
Type of Publication: Article
Journal: Lecture Notes on Computer Science
Volume: 6928
Pages: 420-425
ISSN: 0302-9743
Note: 10.1007/978-3-642-27579-1_54
DOI: 978-3-642-27579-1_54
Mapping techniques based on Wireless Range-Only Sensors (WROS) consist of locating the beacons using measurements of distance only. In this work we use WROS working at 2.4GHz band (same as WiFi, Wireless Fidelity), which has the disadvantage of being affected by a high noise. The goal of this paper is to study a noisy range-only sensor and its application in the development of mapping systems. A particle filter is used in order to map the environment, this technique has been applied successfully with other technologies, like Ultra-Wide Band (UWB), but we demonstrate that even using a noisier sensor this technique can be applied correctly.
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