一种基于室内环境无线传感器网络的移动机器人定位法  

A Indoor Navigation and Localization System for Mobile Robot in Wireless Sensor Network

作　　者：傅思遥[1] 潘秀琴[1] 赵悦[1] 

机构地区：[1]中央民族大学信息工程学院,北京100081

出　　处：《中央民族大学学报（自然科学版）》2009年第1期57-63,共7页Journal of Minzu University of China(Natural Sciences Edition)

基　　金：国家民委科研基金项目(No.08ZY20)

摘　　要：本文提出了一种新的基于无线传感器网络的室内自主移动机器人定位的实际应用方法。通过在博物馆等较大环境中的安装无线电发射装置,移动机器人可以实时检测各个电波发射装置的方向.在这些装置的位置已知的条件下,机器人可以根据三角定位法完成自身的定位.实验和仿真结果验证了该方法的有效性.In this paper we propose an environment map free navigation algorithm based on RF wireless sensor networks for an indoor autonomous mobile robot. In our navigation system, the robot can navigate autonomously without the need for a map, by acquiring the information of pre-set radio emission sensors deployed in an indoor environment. By measuring the distance from one sensor node after another using triangular localization method, the robot locates itself and knows its pose. The p conceptually simple and easy to implement. Our approach is applied to a mobile robot platform, simulation and experimental results show that good localization can be achieved using the proposed method.

关 键 词：定位 移动机器人 无线传感器网络 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]