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## The use of Bluetooth BLE technology for the localization of an autonomous vehicle

### Karol Oleksiuk

#### Abstract

In this work I will present a project and test of the positioning system using Bluetooth Low Energy technology. It is a system dedicated to applications in confined spaces, where access to traditional location techniques based on GNSS is impossible The concept of the system assumes the presence of many transmitters – beacons and at least one receiver, which, having information about the signal strength, a minimum of 3 beacons can determinate its position. The system will use ESP32 WROOM modules with built-in or external omnidirectional antenna, which will work as transmitters and receivers. Also will be used laptop, which will be calculating mobile robot’s position, basing on data revived by the UART serial bus. The algorithm for calculating the position will consist any number of transmitters. The basis of working will be the knowledge of the position of the transmitter and the calculated distance between the transmitter and the receiver. This will allow to calculate the position of the receiver using the geometric method of calculating the intersection points of many circles using the “round robin” method. The man assumption is that the transmitting devices will use as little energy as possible, which will make them independent of the location of the power source. The diploma thesis has been divided into three parts. In the first part of the work I will try to introduce Bluetooth Low Energy technology and basic parameters and capabilities of the used ESP32 module in the WROOM version. Next, the work of the receiver and the transmitter will be described in detail, their software will be analysed with emphasis on aspects that are directly related to the topic of work. The entire algorithm on which the position of the robot will be based will also be described in detail, then I will present the concept of the finished device. In the last part of the work, the entire system will be tested, what give possibility to formulate appropriate conclusions summarizing the effect of my work and the usefulness of the system in the robotic applications.
Diploma type
Engineer's / Bachelor of Science
Diploma type
Engineer's thesis
Author
Karol Oleksiuk (FACME) Karol Oleksiuk,, Faculty of Automotive and Construction Machinery Engineering (FACME)
Title in Polish
Wykorzystanie technologii Bluetooth BLE do lokalizacji pojazdu autonomicznego
Supervisor
Przemysław Szulim (FACME/IV) Przemysław Szulim,, Institute of Vehicles (FACME/IV)Faculty of Automotive and Construction Machinery Engineering (FACME)
Szymon Gontarz (FACME/IV) Szymon Gontarz,, Institute of Vehicles (FACME/IV)Faculty of Automotive and Construction Machinery Engineering (FACME)
Certifying unit
Faculty of Automotive and Construction Machinery Engineering (FACME)
Affiliation unit
Institute of Automotive Engineering (FACME/IV)
Study subject / specialization
, Mechatronika Pojazdów i Maszyn Roboczych
Language
(pl) Polish
Status
Finished
Defense Date
21-01-2019
Issue date (year)
2019
Pages
56
Internal identifier
SIMR; D-2026
Reviewers
Marcin Jasiński (FACME/IV) Marcin Jasiński,, Institute of Vehicles (FACME/IV)Faculty of Automotive and Construction Machinery Engineering (FACME) Przemysław Szulim (FACME/IV) Przemysław Szulim,, Institute of Vehicles (FACME/IV)Faculty of Automotive and Construction Machinery Engineering (FACME)
Keywords in Polish
1.Lokalizacja robota, 2.Nawigacja w pomieszczeniach, 3.Bluetooth Low Energy, 4.Beacon
Keywords in English
1.Robot localization, 2.Indoor navigation, 3.Bluetooth Low Energy, 4.Beacon
Abstract in Polish
File
• File: 1
Praca_dyplomowa_.pdf
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Local fields
Identyfikator pracy APD: 30454

Uniform Resource Identifier
https://repo.pw.edu.pl/info/bachelor/WUT7a01d7aa0a35477eaae09f2b31174014/
URN
urn:pw-repo:WUT7a01d7aa0a35477eaae09f2b31174014

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