WiFi based communication and localization of an autonomous mobile robot for refinery inspection

Marshall Sweatt, Adewole Ayoade, Qi Han, John Steele, Khaled Al-Wahedi, Hamad Karki

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

18 Scopus citations

Abstract

Oil and gas refineries can be a dangerous environment for numerous reasons, including heat, toxic gasses, and unexpected catastrophic failures. In order to augment how human operators interact with this environment, a mobile robotic platform is developed. This paper focuses on the use of WiFi for communicating with and localizing the robot. More specifically, algorithms are developed and tested to minimize the total number of WiFi access points (APs) and their locations in any given environment while taking into consideration the throughput requirements and the need to ensure every location in the region can reach at least k APs. When multiple WiFi APs are close together, there is a potential for interference. A graph-coloring heuristic is used to determine AP channel allocation. In addition, WiFi fingerprinting based localization is developed. All the algorithms implemented are tested in real world scenarios with the robot developed and results are promising.

Original languageBritish English
Title of host publication2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4490-4495
Number of pages6
EditionJune
ISBN (Electronic)9781479969234
DOIs
StatePublished - 29 Jun 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: 26 May 201530 May 2015

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
NumberJune
Volume2015-June
ISSN (Print)1050-4729

Conference

Conference2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/TerritoryUnited States
CitySeattle
Period26/05/1530/05/15

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