Indoor Robot Localization and Mapping Using ZigBee Radio Technology

Kyle Hevrdejs, Jacob Knoll, Advisor: Dr. Suruz Miah

In this work, a mobile robot must navigate through a set of waypoints on the ground while simultaneously localizing itself and mapping positions of XBee radios in its environment. The proposed solution was simulated in the industry standard robot simulator, V-REP. V-REP can accurately and consistently produce results similar to what is expected in a real-life experiments due to physics modeling of each specific robot and its environment. Using range-only data, several experiments were performed to test the performance of the proposed solution. The results from these experiments show that this work is a promising alternative to other mobile robot navigation techniques due to its low-cost and ease-of-use.