An IoT Approach to Positioning of a Robotic Vehicle

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 763)


This paper presents and evaluates one approach to the problems of automatic control of a vehicle movement in a large outdoor area. The positioning of the vehicle in the area is provided by iBeacons, located at the edges of the given surface. The iBeacon is a small and low-power device which periodically transmits its UUID (Universally Unique Identifier) number through the interface of a Bluetooth 4.x. The vehicle should be able to calculate its position according to the power of the signal, considering the location of the iBeacons. To be more specific, the triangulation method is applied to determine the position. According to the set of experiments presented at the end of the paper, the position error of a robotic vehicle is mostly less then 1 m.


iBeacon Trilateration LLS RSSI Bluetooth Kalman estimator 



The work has been supported by the Funds of University of Pardubice, Czech Republic. This support is very gratefully acknowledged.


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Faculty of Electrical Engineering and InformaticsUniversity of PardubicePardubiceCzech Republic

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