Mobile robot navigation using wireless sensor networks without localization procedure

Woo Yong Lee, Kyeong Hur, Kwang Il Hwang, Doo Seop Eom, Jong Ok Kim

Research output: Contribution to journalArticlepeer-review

11 Citations (Scopus)


In this paper, algorithms for navigating a mobile robot through wireless sensor networks are presented. The mobile robot can navigate without the need for a map, compass, or GPS module while interacting with neighboring sensor nodes. Two navigation algorithms are proposed in this paper: the first uses the distance between the mobile robot and each sensor node and the second uses the metric calculated from one-hop neighbors' hop-counts. Periodically measuring the distance or metric, the mobile robot can move toward a point where these values become smaller and finally come to reach the destination. These algorithms do not attempt to localize the mobile robot for navigation, therefore our approach permits cost-effective robot navigation while overcoming the limitations of traditional navigation algorithms. Through a number of experiments and simulations, the performance of the two proposed algorithms is evaluated.

Original languageEnglish
Pages (from-to)257-275
Number of pages19
JournalWireless Personal Communications
Issue number2
Publication statusPublished - 2012 Jan


  • Localization
  • Mobile robot
  • Navigation
  • Wireless sensor networks

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering


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