【摘要】 针对目前室内机器人定位方法不能同时满足定位精度、定位范围和复杂环境条件下定位的情况,提出了一种利用ZigBee无线网络、基于接收到信号强度测距的定位方法。研究通过搭建一个ZigBee无线网络室内定位系统,实时提供机器人的位置坐标,为机器人实现路径规划提供保障。通过实验对定位系统中的各项参数进行标定,并分析了影响定位精度的因素。实验结果表明,ZigBee无线网络定位系统在室内复杂环境下可实现定位,在无障碍物的条件下精度可达到0.25 m,可以满足室内机器人的定位精度要求,定位范围可根据实际需求进行扩展。更多还原

【Abstract】 Traditional localization for indoor robot cannot reach expected positioning accuracy in a complex and wide environment.Based on the received signal strength indicator,a method that uses a ZigBee wireless network was proposed.A ZigBee wireless network indoor positioning system was built up.It provides the coordinates of the robot for the main controller to schedule the pathway of robot.Parameters in positioning system were demarcated and factors that affect the positioning accuracy were analyzed.The experimental results show that the system can locate the robot under a complex indoor environment.If there are no obstacles,the accuracy can reach 0.25 m.It can meet the requirements of indoor positioning accuracy.The localization scope can be extended according to actual demands.更多还原