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Mobile robot self-localization method assisted by wireless sensor network

A mobile robot, wireless sensor technology, applied in positioning, radio wave measurement systems, instruments, etc., can solve the problems of difficult to extract environmental features, poor environmental adaptability, and difficult data association, and achieve easy implementation, low difficulty, and avoidance. The effect of environmental feature extraction process

Inactive Publication Date: 2015-12-16
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0003] In order to overcome the shortcomings of the existing mobile robot self-localization methods, such as poor environmental adaptability, difficulty in extracting environmental features, and difficulty in data association, etc.

Method used

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  • Mobile robot self-localization method assisted by wireless sensor network
  • Mobile robot self-localization method assisted by wireless sensor network
  • Mobile robot self-localization method assisted by wireless sensor network

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Embodiment Construction

[0024] The present invention will be further described below in conjunction with the accompanying drawings.

[0025] refer to Figure 1 to Figure 6 , a mobile robot self-localization method assisted by a wireless sensor network, said method comprising the following steps:

[0026] Step 1) The mobile robot sends a "location request" data packet to the sensor nodes within the single-hop transmission radius;

[0027] Step 2) After the wireless sensor network node receives the request, analyze the received data packet, extract the RSSI value of the data packet, and carry out a pre-filtering to the RSSI signal to obtain an estimated value of the RSSI signal;

[0028] Step 3) By the estimated value of the RSSI signal, it is judged whether the sending condition is met, and if the sending condition is met, the response data packet is sent to the mobile robot in a single-hop mode; otherwise, the service request is ignored.

[0029] Step 4) After the mobile robot receives the response...

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Abstract

A mobile robot self-localization method assisted by a wireless sensor network achieves self-localization of a mobile robot in an environment covered by the wireless sensor network by adopting a sequential square root cubature Kalman filtering algorithm. The mobile robot continuously performs state prediction through internal sensor information, and continuously requests location services from peripheral nodes at the same time. After that, the mobile robot corrects a prediction state in real time according to sequence of received response location data packets. The mobile robot self-localization method provided by the present invention avoids natural environment feature extraction and data association, and improves adaptive capacity to environment of the mobile robot.

Description

technical field [0001] The invention relates to the field of self-positioning of a mobile robot, in particular to a self-positioning method of a mobile robot based on a wireless sensor network. Background technique [0002] Wireless sensors have the characteristics of good self-organization ability, low energy consumption, strong environmental perception ability, and wide coverage. They can be used in environmental information monitoring, vehicle tracking, military investigation and other fields. On the other hand, mobile robots carry abundant sensors, but their ability to perceive the environment is very limited, and their ability to adapt to the environment is poor. The mobile robot can carry out self-positioning through dead reckoning through the inertial sensor carried by itself. This method is greatly affected by cumulative errors, and often requires external sensors such as lasers, vision, and infrared to correct its pose. However, the environmental characteristics a...

Claims

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Application Information

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IPC IPC(8): G01S5/14G01S5/02
CPCG01S5/14G01S5/021G01S5/0273
Inventor 张文安杨旭升俞立
Owner ZHEJIANG UNIV OF TECH
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