Analysis of fitting models of radio signal coverage for indoor experiments with multiple robots

Abstract

As robotic applications in complex environments, such as indoor and confined spaces, continue to increase, effective communication among mobile robots is a critical factor. To enhance communication between mobile robots, it is essential to model the signal transmitted between them and analyze the factors influencing its quality. This article focuses on the analysis and adjustment of radio signal coverage models in indoor environments using multiple robots. By employing an algorithm that divides the environment into regions and determines the most suitable radio propagation model for each region, this article aims to improve the estimation of signal loss under various environmental conditions. Experimental data were collected through tests using mobile robots in corridor-like environments. The results indicate that the TwoRay model proved to be more efficient in representing radio signal power loss along the path for samples closer to the transmitting antenna within a radius of 10m. Additionally, the LogNormal and LogNormal Shadowing models demonstrated greater efficiency at greater distances for the two tested databases.