FOR REFINERY & AUTONOMOUS BASED ROBOT USING WIFI

CATEGORY: ROBOTS
FOR REFINERY & AUTONOMOUS BASED ROBOT USING WIFI

Type	Journal Article
Author	S. SINDHU
Author	AM GUNA SEKHAR
URL	Free Full Text Source:  http://ijoeet.com/pdf18/13.pdf
Volume	4
Issue	3
Publication	International Journal of Eminent Engineering Technologies
Date	June 2016
Abstract	A mobile robotic system is a suitable analog for this process. The operator can remotely perform inspection tasks from an operator control station through a mobile robotic system; however, communication between the operator and the robot is paramount. If communication is ever lost, the human operator will be exposed to the dangers of the environment. In an autonomous system, localization of the mobile robot is key - if the operator tells the robot to move from location A to location B, the robot needs to know exactly where it is at all times to avoid causing damage to the environment or itself. The work in this thesis focuses on the WiFi communication and localization of a mobile robot. First, extensive experiments were conducted to understand the relationship of received signal strength, bandwidth, link quality, and distance for both indoor and outdoor environments in a 2.4 GHz WiFi network. Findings from these empirical studies were then used to determine both single and k - coverage of a given area. Single - coverage is required to ensure that at every point in the region of interest, communication can occur between the mobile robotic system and the operator control station. Single - cove rage was then expanded to k - coverage to provide a more robust network for localization. Algorithms were implemented to determine a minimal 3 - coverage deployment that ensures a minimum threshold distance between neighboring access points. Channel allocation was determined through a graph coloring approach where two heuristics were implemented and their results compared. WiFi localization was implemented through RSSI fingerprinting, a matching heuristic, where a new approach was considered for determining the k - closest neighbors