Discrete Robot Localization in Tunnels

Abstract

Tunnel-like environments represent a challenge in terms of robot localization due to the special conditions of this type of scenarios. Traditional robot localization systems based on laser, camera or odometry sensors do not perform well due to the hostile conditions and the general lack of distinctive features. In this paper we present a discrete localization system which takes advantage of the periodicity nature of the RF signal fadings that appears inside tunnels under certain configurations. Experimental results show the feasibility of the proposed method in order to periodically correct the robot position during its displacement along the tunnel.