Ad-Hoc Communication and Localization System for Mobile Robots

Neuwinger B, Witkowski U, Rückert U. Ad-Hoc Communication and Localization System for Mobile Robots. In: Advances in Robotics. Vol 5744/2009. Berlin, Heidelberg: Springer-Verlag; 2009: 220-229.Robots exploring unknown territory cannot rely on fixed infrastructure for communication and localization purposes. Therefore an ad-hoc communication and localization system is required to provide such facilities. In this paper a solution for a radio based localization system is presented using a 2.4 GHz wireless radio transceiver based on Chirp Spread Spectrum (CSS) modulation, which allows distance measurements by evaluating the signal propagation delay. Using odometry data as additional information source a communication and positioning system is developed fulfilling ad-hoc demands