RSSI-based relative localisation for mobile robots

摘要

In this work, we develop an anchor-less relative localisation algorithm aimed to be used in multi-robot teams. The localisation is performed based on the Received Signal Strength Indicator (RSSI) readings collected from the messages exchanged between nodes. We use the RSSI as a rough estimate of the inverse of distance between any pair of communicating nodes, and we claim that such estimates provide a coarse information of the nodes relative localisation that is still suitable to support several coordination,tasks. In addition, we introduce a relative velocity estimation framework based on the RSSI measurements. This framework uses consecutive distance measurements and position estimates to provide the relative velocity vectors for all the nodes in the network.