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All Journal TEKNIK Mechatronics, Electrical Power, and Vehicular Technology Jurnal Teknologi Jurnal Keteknikan Pertanian Tropis dan Biosistem JST ( Jurnal Sains Terapan ) JURNAL INSTEK (Informatika Sains dan Teknologi) TELKA - Telekomunikasi, Elektronika, Komputasi dan Kontrol Journal of Electrical, Electronic, Information, and Communication Technology (JEEICT) Jurnal Listrik, Instrumentasi, dan Elektronika Terapan Prosiding Konferensi Nasional PKM-CSR Emitor: Jurnal Teknik Elektro
IRSYADI, FAKIH
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Agriculture, Biological Sciences & Forestry Humanities Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Education Electrical & Electronics Engineering Energy Engineering Environmental Science Mathematics Mechanical Engineering Nursing Public Health Social Sciences Other

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Improved Indoor Localization Mechanism for Automated Guided Robots Using Bluetooth Beacons Irsyadi, Fakih; Hendry, Jans; Saputro, Joko Slamet; Sasongko, Aji Bambang; Gumay, Muhammad Harrys
Journal of Electrical, Electronic, Information, and Communication Technology Vol 7, No 1 (2025): JOURNAL OF ELECTRICAL, ELECTRONIC, INFORMATION, AND COMMUNICATION TECHNOLOGY
Publisher : Universitas Sebelas Maret (UNS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.20961/jeeict.7.1.100928

Abstract

Robot localization is essential for successful navigation, particularly in indoor environments where Global Positioning System (GPS) devices are ineffective. Bluetooth Low Energy (BLE) beacons provide a promising solution by transmitting 2.4GHz signals that can be interpreted by nearby robots. The trilateration method, utilizing Received Signal Strength Indicator (RSSI) values from BLE beacons at predefined locations, enables position estimation. However, RSSI values are highly susceptible to fluctuations and environmental interference, leading to significant errors. This research addresses these challenges by developing a low-cost beacon device using an ESP32 microcontroller and implementing a Kalman filter to minimize RSSI fluctuations. A curve fitting method is applied to convert filtered RSSI data into distance estimates, offering improved accuracy compared to the path loss model. The trilateration approach determines the robot’s position based on three dominant BLE beacons, selected for their signal strength. Results demonstrate that the proposed localization system is effective, with the integration of the Kalman filter and beacon selection mechanism significantly enhancing positional accuracy. This study contributes to the advancement of indoor localization by providing a robust and cost-efficient system suitable for autonomous mobile robot navigation.
Co-Authors Adriyanto, Feri Anwar, Miftahul Astuti, Wijayanti Dwi Atthoyyib, Latief Hasyim Baskoro, Hilmy Rahmansyah Basuki Rahmat Masdi Siduppa Budi Sumanto Choir, Anisa’ Septyaning Dien Rahmawati Firdaus, Agni Firmansyah, Rendra Dwi Gumay, Muhammad Harrys Hastomo, Rafifnanda HENDRY, JANS Hidayat Nur Isnianto Hudati, Imroatul Ikhsan Setiawan ILHAM FAUZI Joko Slamet Saputro Khilda Afifah Kristiawan, Handika Yulma M Darfyma Putra Mafaza, Izza Muhammad Arrofiq Muhammad Najib Muhammad Ridho Rosa Muhammad Zakiyullah Romdlony P, Matthew Sebastian Prastowo Murti, Prastowo Putri, Tri Wahyu Oktaviana Ramelan, Agus Sasongko, Aji Bambang Suhono Yusuf, Putra Maulana