  Mobile robots have the capability to work in real-time autonomously.
Autonomous behavior is strictly dependent on knowing the position of the mobile
robot. The positioning of a mobile robot in an indoor area is a difficult task
for only one sensor information is used. We proposed a system and method to
locate the mobile robot via fusing signals from WIFI and odometer data via
particle filter. In this study, the Particle filter is a well-known filter that
is used for indoor positioning of mobile robots. The proposed system includes
two parts that are RFKON system and evarobot for data collection and
experiments. The Received Signal Strength (RSS) measurements of the WiFi access
points that are located in any environment are used to locate a stationary
mobile robot in one floor area via SIS Particle Filter. RSS measurements from
the RFKON database are used and the average location error is 0.7606 and 0.1495
m for 300 and 1000 particles respectively.
