Rssi-Based Mobile Robot Localization Datasets

Experimental datasets used for an MSc project, titled "Outdoor Localization System for Mobile Robots Based on Radio-Frequency Signal Strength", for performing trajectory recovery of a mobile ground robot by data fusion of odometry, gyroscope and Received Signal Strength Indicator (RSSI), through Extended and Augmented-Extended Kalman Filter algorithms. <br> "experiment_1" contains the robot's data in "rosbags" (i.e. ROS' compressed robot data), recorded in a parking lot with ground-truth from an RTK GPS. The measurements recorded were wheel odometry, IMU accelerations/angular velocities, RSSI from three receiver-transmitter pairs, regular GPS position and RTK GPS position. "experiment_2" contains the robot's data in "rosbags", recorded in the parking lot and in a second environment, a garden with tall trees and a nearby building. Both environments were recorded for later comparison, to see how the localization solution performed in a GPS-denied environment. All measurements were the same as in experiment 1, except for the exclusion of the common and RTK GPS.