Mobile robot automatic positioning algorithm based on wireless sensor network

Abstract

The invention discloses a mobile robot automatic positioning algorithm based on a wireless sensor network and belongs to the field of mobile robot automatic positioning. The method includes the following steps that wireless sensor nodes are uniformly installed, working space is divided into a plurality of equal-sized rectangular grids, and each node knows own calibration position. When a mobile robot moves, four sensor nodes of the rectangular grids where the mobile robot is located inform the robot of the position and speed information of the nodes through wireless communication. The mobile robot performs local optimal estimation on node information firstly through local kalman filters, integrates results of all local filters through a certain weight distribution strategy by an overall filter to obtain an optimal integrated result. According to the mobile robot automatic positioning algorithm based on the wireless sensor network, integrated-feedback federated kalman filters are utilized, the local optimal estimation of each local filter is sent to the overall filter so that information fusion is performed to obtain the overall optimal fusion, and the positioning accuracy is improved.

Description

technical field [0001] The invention belongs to the field of automatic positioning of mobile robots, and relates to an automatic positioning algorithm of mobile robots based on a wireless sensor network. Background technique [0002] With the development of computer technology, sensing technology, etc., robots have also changed from performing simple and repetitive tasks on industrial assembly lines to having higher intelligence and being able to complete more complex tasks, moving from static to mobile. With the continuous improvement of robot performance, the application range of mobile robots has been greatly expanded. It is well applied in dangerous situations. Therefore, mobile robot technology has received widespread attention from all over the world. Automatic positioning technology is the core of its research, and it is also the key technology to realize truly intelligent and completely autonomous mobility. At present, the commonly used positioning methods for mob...

AI Technical Summary

Problems solved by technology

[0004] (1) The positioning accuracy is limited;

[0005] (2) The impact of the external environment on positioning;

[0006] (3) High material cost;

[0007] (4) Lack of complete autonomy;

Since entering the 21st century, many methods have emerged for mobile robot positioning through wireless sensor networks, but the proposed theories and methods still have many deficiencies and need to be further improved

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