【摘要】 作为一种全新的室内定位技术,将无线路由器的无线信号强度(Receive Signal Strength Indicator,RSSI)值应用在室内移动机器人定位领域。为实现室内移动机器人的定位,提出利用无线信号强度值定位的概率法,根据无线信号强度值在室内环境中的分布特点,分析概率法定位原理,开发一种基于VC++6.0平台室内移动机器人定位系统,该定位系统包括硬件平台和软件平台,并进行移动机器人定位实验,得到较好的定位实验结果。同时,分析机器人定位精度,确定影响定位精度的因素主要包括障碍物、人体、温度和湿度等。定位实验结果表明,在结构化环境下机器人定位的最大偏差为1.2758m,最小定位偏差为0.3007m,可以较好地满足室内移动机器人的定位要求。更多还原

【Abstract】 As a new indoor positioning technology,the RSSI (Receive Signal Strength Indicator) value acquired from wireless router is widely used in the field of indoor mobile robot localization. In order to achieve the indoor mobile robot positioning,the probability positioning method is proposed based on the RSSI value. The characteristics of the RSSI distribution in the indoor environment are discussed,together with the principle of probability positioning. The positioning system of the indoor mobile robot based on VC++ 6.0 platform was developed. It includes two parts,the hardware platform and the software platform. The mobile robot localization experiment was carried out in the indoor environment. It is shown that the positioning accuracy is affected by some factors,the obstacles,the human body,temperature and humidity,etc. The maximum deviation is 1.2758m and the minimum is 0.3007m. The positioning requirements for the indoor mobile robot localization can be met.更多还原