Fuzzy Mobile-Robot Positioning in Intelligent Spaces Using Wireless Sensor Networks

This work presents the development and experimental evaluation of a method based on fuzzy logic to locate mobile robots in an Intelligent Space using Wireless Sensor Networks (WSNs). The problem consists of locating a mobile node using only inter-node range measurements, which are estimated by radio frequency signal strength attenuation. The sensor model of these measurements is very noisy and unreliable. The proposed method makes use of fuzzy logic for modeling and dealing with such uncertain information. Besides, the proposed approach is compared with a probabilistic technique showing that the fuzzy approach is able to handle highly uncertain situations that are difficult to manage by well-known localization methods.