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Indoor moving robot route planning method based on sensor network dynamic environment monitoring

A technology of sensor network and mobile robot, which is applied in the field of path planning for mobile robot by environment model, which can solve problems such as difficulty in implementation, complexity, and lengthy algorithm code, and achieve the effect of simple structure, excellent performance, and good completeness

Inactive Publication Date: 2015-11-25
NORTHEASTERN UNIV
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the idea of ​​intelligent algorithms is complex and difficult to understand, and the algorithm codes are lengthy and numerous, making it difficult to implement

Method used

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  • Indoor moving robot route planning method based on sensor network dynamic environment monitoring
  • Indoor moving robot route planning method based on sensor network dynamic environment monitoring
  • Indoor moving robot route planning method based on sensor network dynamic environment monitoring

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Embodiment Construction

[0034] In the following, the present invention will be further described in detail with reference to examples.

[0035] Aiming at indoor environment, relying on wireless sensor network to study robot path planning, the system includes Cricket node, mobile robot, sink node and remote PC. Specifically, the indoor roof is divided into a certain density of grids, and Cricket nodes are deployed in each grid point to form a wireless sensor network (WSN); WSN nodes detect obstacles on the ground through ultrasonic methods, and perform the returned discrete data. Processing, the data of all WSN nodes form a global continuous three-dimensional topographic map, which is binarized to form a 0-1 grid map to establish a dynamic environment model; the mobile robot airborne Cricket node wirelessly communicates with the WSN deployed on the roof The network establishes a communication link, obtains the relative distance between the three nearest nodes and itself, and uses the least square algorit...

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Abstract

The invention discloses an indoor moving robot route planning method based on sensor network dynamic environment monitoring. According to the method, a wireless sensor network is used to carry out environment modeling on the indoor dynamic environment, and then a route is planned for the moving robot. Specifically, the indoor roof is divided into grids with a certain density, a node is arranged in each grid so as to form a wireless sensor network (WSN); the nodes in WSN detect the obstacles on the ground though an ultrasonic wave mode, then the feedback discrete data is processed, a whole continuous three-dimensional topographic map can be established; the topographic map is subjected to a binarization treatment to establish a 0-1 grid map so as to construct a dynamic environment model; a Cricket node, which is loaded on a moving robot, is communicated with the WSN network arranged on the roof through a wireless mode, the Cricket node can obtain the relative distances between the Cricket node and three nearest nodes and then is capable of estimating the self-position through least squares algorithm; and finally the dynamic route is planned by the D*Lite algorithm through combining the current position of robot and the obstacle information.

Description

technical field [0001] The invention relates to the fields of wireless sensor network, mobile robot, environment modeling, path planning, etc., and specifically relates to the dynamic monitoring of indoor environment by using the wireless sensor network, and the path planning of the mobile robot in combination with the environment model. Background technique [0002] In recent years, robot navigation based on the wireless sensor network (WirelessSensorNetwork, WSN) environment has become a research hotspot. Compared with the traditional navigation method that relies on the sensors carried by the robot itself to perceive the environment, wireless sensor networks can provide robots with more comprehensive real-time perception capabilities, continuous and large-scale monitoring of the environment, and can also be used as communication and Computational media to improve the ability of the robot to optimize its path. Therefore, the mobile robot can be combined with the wireless ...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 张云洲谌睿杨恒赞
Owner NORTHEASTERN UNIV
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