Comparison of WiFi Map Construction Methods for WiFi POMDP Navigation Systems

摘要

The framework of this paper is the robotics navigation inside buildings using WiFi signal strength measure. In most cases this navigation is achieved using a Partially Observable Markov Decision Process (POMDP). In the localization phase of this process the WiFi signal strength is used as observation. The localization system works in two stages: map construction and localization stage. In this paper we compare three different methods for obtaining the WiFi map in the construction stage. The methods have been tested in a real environment using two commercial robotic platforms. Some experimental results and the conclusions are presented.