JRM Vol.28 No.2 pp. 162-172
doi: 10.20965/jrm.2016.p0162


Optimum Placement of Wireless Access Point for Mobile Robot Positioning in an Indoor Environment

Abdul Halim Ismail*,**, Ryosuke Tasaki*, Hideo Kitagawa***, and Kazuhiko Terashima*

*System and Control Laboratory, Department of Mechanical Engineering, Toyohashi University of Technology
1-1 Hibarigaoka, Tempaku-cho, Toyohashi 441-8580, Japan

**School of Mechatronic Engineering, Universiti Malaysia Perlis (UniMAP)
Pauh Putra Campus, 02600 Arau Perlis, Malaysia

***Department of Electronic Control Engineering, National Institute of Technology, Gifu College
2236-2 Kamimakuwa, Motosu, Gifu 501-0495, Japan

October 23, 2015
January 19, 2016
April 20, 2016
indoor positioning, location fingerprinting, wireless nodes optimization, AP placement, indoor environment

Optimum Placement of Wireless Access Point for Mobile Robot Positioning in an Indoor Environment

The placement objective so that the particular arrangement could provide enough signal data to the mobile robot

The Wireless Positioning System (WPS) has gained increasing attention for mobile robot applications in indoor environments over conventional on-board sensors. This is mainly due to their cost effectiveness as well as adaptability for future use. Many literatures on WPS adapted existing wireless infrastructures such as WiFi for mobile robot usage, resulting in relatively impractical accuracy for mobile robot application. A systematic technique must be sought in order to place the wireless nodes where coverage could be maximized and be suitable for a mobile robot positioning system via fingerprinting technique. We propose an effective and simple means to optimize wireless access point (AP) placement. Simulation results by ITU-R P.1238 MWF signal propagation model with automatic wall crossing computation have ensured the maximum coverage for human users using a minimum number of wireless nodes as possible. The mobile robot positioning error employing the weighted k-nearest neighbor algorithm (WKNN) with the average signal strength as fingerprint database yielded significant results when the proposed placements are used over symmetrical placements.

Cite this article as:
A. Ismail, R. Tasaki, H. Kitagawa, and K. Terashima, “Optimum Placement of Wireless Access Point for Mobile Robot Positioning in an Indoor Environment,” J. Robot. Mechatron., Vol.28, No.2, pp. 162-172, 2016.
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Last updated on Nov. 16, 2018