CIT 581 SDR Project Update 4 – April 10, 2020
Here is a brief summary about what we have done during past 2 weeks:
- We decided to use python GUI libraries to create GUI for simulation.
Specifically, we are using tkinter library. - Path planning given start position and goal position: done ✅
- WiFi signal simulation for localization: done ✅
- Building a GUI: in progress
So above is the brief summary about what we have done and today we are going to share some WiFi simulation results and our current status in building GUI. Since we decided to turn our project as simulation project, we had to simulate real world data – WiFi signal strength, estimated location using WiFi signal, and other miscellaneous things – as much as we could. The fact that we are creating whole application as a simulation application has been a major headache to us, but we believe now we are on the right track thanks to our own team members and prof. Min.
Well then, let us share some WiFi simulation results!
How many WiFi APs are we going to use?
Answer: We are going to use 3 APs. Why? Please take a look at the below figures.
The images above show that as the number of APs increases, estimation error decreases while time consumed for estimation increases. There is a trade-off. So, we decided to use 3 APs, which could be a goldilocks (meaning something is just right) number of APs.
We have simulated WiFi signals using 3 APs and plotted the signals on entire map using RGB colors.
In order to simulate more realistic WiFi signal strength, we have used gaussian and nakagami distribution.
Based on this simulated WiFi signal vector, the robot is going to localize itself. The robot would “think” that it is at certain location based on the WiFi signal vector.
So this is what we have done with WiFi localization part and we are also working on building a graphic user interface. We still have to figure out a lot of parts in GUI. Since we don’t have a real world data, we have to create, simulate, and estimate all the factors in real world with programming and we have realized how complex it is to simulate a real world. But, hey, we are now almost there! GUI part is also on the right track and we believe we would be able to post our final result by the end of next week. We will push ourselves to finalize this project successfully. We got this!
So until then… stay tuned and stay safe!
[ CIT 581 SDR / Spring 2020 ] 