Autonomous cruising method of mobile robot for reliable wifi connection

Abstract

The invention discloses an autonomous cruising method for a mobile robot oriented to a reliable WIFI connection, comprising the following steps: 1) The robot traverses the entire environment through autonomous exploration and navigation, and uses a Gaussian process according to the WIFI signal strength data of a limited number of measuring points at the access location The regression model establishes the probability model of the WIFI two-dimensional distribution field; 2) At the same time, the environmental grid map is established and fused with the WIFI signal strength distribution to generate a hybrid map, that is, the WIFI map; 3) Using the established WIFI map for obstacle avoidance navigation, In this way, while realizing the optimal path obstacle avoidance navigation, it is ensured that the path of the robot avoids the weak area of ​​WIFI signal. The invention only needs a limited number of WIFI signal strength measurement point data, and can use machine learning algorithm to estimate the WIFI signal distribution of the whole indoor room, which is suitable for the application occasions with high requirements for real-time wireless network connection in the cruise monitoring of remote mobile robots.

Description

technical field [0001] The invention relates to a reliable WIFI connection-oriented mobile robot autonomous cruising method, which belongs to mobile robot navigation and remote monitoring. Background technique [0002] The wireless network gets rid of the shackles of the wire, and the data collection and monitoring are carried out through the wireless communication network. Good confidentiality and other advantages. This also makes the advantages of intelligent mobile robots controlled by wireless communication methods more and more obvious. In the remote monitoring application of mobile robots using indoor WIFI wireless network, the navigation mode of mobile robots mainly has two working modes: [0003] One way of working is the remote teleoperated navigation mode. Most patrol monitoring robots work in the teleoperation mode. The monitoring personnel manipulate the robot movement through the remote client software interface. , Zhou Qingrui, Research and Implementation o...

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Problems solved by technology

However, there are currently no similar papers and open patents discussing how to use only the limited WIFI signal strength data points detected by mobile robots to establish continuous two-dimensional field distribution of WIFI signals and other related issues.

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