Wireless locating method of mixed-type multiple-mobile-robot system

A mobile robot and wireless positioning technology, which is applied to radio wave measurement systems, satellite radio beacon positioning systems, instruments, etc., can solve the problems of multiple equipment and complex positioning methods
CN103257353BInactive Publication Date: 2015-02-11SOUTHEAST UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
SOUTHEAST UNIV
Publication Date
2015-02-11
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a wireless locating method of a mixed-type multiple-mobile-robot system. The mixed-type multiple-mobile-robot system comprises a monitoring center, a position-known robot and a plurality of position-unknown robots, wherein the monitoring center achieves control of the system and locating result display, the position-known robot is composed of a four-wheel mobile machine body, a power source management system, a sensor system, a wireless communication system and a control processing system, and each position-unknown robot is composed of a motion mechanism, a power source module, a sensor module and a wireless communication control module. The position-known robot can obtain positional information through the sensor system, motions to three different positions through dynamic motion, positional information in different positions is broadcast and sent to the position-unknown robots, and each position-unknown robot can calculate the distance between the position-unknown robot and the three different positions according to combination of the wireless signal strength and attenuation models of wireless signals propagation. Therefore, the positional information of the position-unknown robots can be obtained by means of trilateration.
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Description

technical field

[0001] The invention relates to multi-robot positioning, wireless positioning and mobile sensor network positioning, in particular to a wireless positioning method for a hybrid multi-mobile robot system. Background technique

[0002] Wireless positioning technology has been widely used, such as the Global Positioning System (GPS) has been widely used in military, commercial and civilian fields. GPS positioning needs to be in an unobstructed outdoor environment, and requires a fixed infrastructure. User nodes consume a lot of energy and cost. The multi-mobile robot system using GPS positioning often fails due to factors such as GPS signal interference; the method of using odometer or inertial device for relative positioning has cumulative errors. With the increase of robot movement distance, the cumulative error will be unacceptable and positioning will occur Failed; the positioning system combining GPS and relative positioning methods has been extensively st...

Claims

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