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Signal Contour Tracking using a Mobile Robot

Ashish Derhgawen


This paper describes a technique for obtaining a signal intensity map of an environment with multiple signal sources. The experiments are performed with a LEGO Mindstorm robot equipped with a light sensor. Light bulbs are used to simulate signal sources. A search algorithm is implemented to find the signal contours using the robot's light sensor. During the experiment, the robot’s movements are automatically tracked using an overhead camera connected to a computer. The computer stores the position data of the robot to form a signal intensity map of the environment. This method is applicable in determining the boundary of safe regions in areas with hazardous material spill.

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