Mobile robot positioning method
A mobile robot and positioning method technology, applied in the field of robotics, can solve problems such as poor robustness, and achieve the effects of low cost, enhanced robustness, low power consumption and low cost
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[0035] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
[0036] A mobile robot positioning method, such as figure 1 As shown, it specifically includes the following steps:
[0037] Step S1: First, deploy 4 Bluetooth beacons in the indoor area to be located, which are located at the four vertices, denoted as B 1 ,B 2 ,B 3 ,B 4 , The positions of these four beacons are known, and they are marked as
[0038] Step S2: The signal radiated by the beacon deployed in Step S1 will form a radio wave signal field indoors. Different fingerprint sample points in the indoor area to be located are marked as RP, and radio signal strength characteristic data are collected to form a characteristic data matrix
[0039]
[0040] among them, Represent beacon B i RP at sample point j The radio signal strength at, N is the num...
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