Method for realizing maximum range location of mobile robot based on wireless sensor network

Abstract

The invention relates to a method for realizing maximum range location of a mobile robot based on a wireless sensor network. The method comprises the steps that the first actual distance between the first beacon node and the mobile robot and the second actual distance between the second beacon node and the mobile robot are calculated according to the distance measurement data between the beacon nodes; a circle is drawn with the coordinate information of the first beacon node acting as the center of circle and the corresponding first actual distance acting as the radius; a circle is drawn withthe coordinate information of the second beacon node acting as the center of circle and the corresponding second actual distance acting as the radius; the maximum actual coordinate information of themobile robot is obtained according to the number of the points of intersection of the two circles; and the invalid maximum actual coordinate information is eliminated. With application of the method for realizing maximum range location of the mobile robot based on the wireless sensor network, the location error can be reduced, the location accuracy can be enhanced, the algorithm is simple and reliable, the requirement for the hardware can be reduced, the network cost can be saved, the extensibility is high, the applicability is high, the cost is low and the method has wide application value.

Description

technical field [0001] The invention relates to the field of robot positioning, in particular to the field of mobile robot positioning in wireless sensor networks, in particular to a method for realizing maximum range positioning of mobile robots based on wireless sensor networks. Background technique [0002] Positioning technology is a key technology in the research of mobile robots. For an autonomous robot system, accurate spatial positioning is the premise of autonomous navigation. There are many methods to obtain the position information of the robot, which are mainly divided into the following two categories: ① Record the robot's own movement process through sensors such as code discs, electronic gyroscopes, and accelerometers, and calculate the current position through accumulation; ② Determine the relative position of the robot and the environment through radar, laser rangefinder, image matching, etc. own location information. However, due to the strong mobility of ...

AI Technical Summary

Problems solved by technology

With the increasing scale of WSN network deployment, the difficulty and cost of manual calibration are also increasing, making it unrealistic for each sensor node to be loaded with GPS

At present, the node positioning methods mainly adopt trilateral positioning method based on multiple anchor nodes, DV-HOP method, Monte Carlo method, etc., but most of these positioning methods are realized based on multiple fixed anchor nodes. High-precision dynamic positioning has high requirements for the deployment and quantity of anchor nodes. The increase in the number will also increase the calculation load and affect the reliability of positioning.

In addition, wireless signal interference also causes the ranging value between sensors to change, and the ranging error of the system is very serious.

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