面向移动机器人自定位的无线网络构造算法及实现  

Construction algorithm and its implementation for wireless network in self localization of mobile robot

作　　者：苑晶[1] 黄亚楼[2] 孙凤池[2] 

机构地区：[1]南开大学自动化系,天津300071 [2]南开大学软件学院,天津300071

出　　处：《仪器仪表学报》2011年第1期99-106,共8页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(60805031);天津市自然科学基金(10JCYBJC07600);教育部博士点基金(200800551015)资助项目

摘　　要：针对移动机器人的自定位问题,研制一种无线定位网络结点,该结点由超声模块和无线射频模块组成,根据超声与无线射频信号的到达时间差计算机器人与网络结点的相对位置关系,借助扩展的卡尔曼滤波器实现机器人的自定位和对网络结点的同步定位。然后,提出一种无线定位网络的自主构建算法,通过机器人动态分配网络结点,实现对环境的完备最小覆盖。仿真与实验表明该网络构造算法及定位技术能够满足较大规模环境下移动机器人的自定位要求。A kind of wireless localization network nodes are developed for self-localization of mobile robot.Each node composes of an ultrasonic module and a radio-frequency module.The robot can determine the relative location between itself and the detected node by the time difference of arrival（TDOA） between ultrasonic and radio-frequency signals.Extended Kalman Filter（EKF） is used to estimate the pose of the robot and the locations of the network nodes.Then,a construction algorithm of wireless localization network is proposed for the self localization of mobile robot.The robot allocates the network nodes dynamically to achieve a complete and minimal coverage for the environment.Simulations and experiments show that the proposed algorithm and technique can satisfy the requirements for the self localization of mobile robot in large-scale environment.

关 键 词：移动机器人 自定位 无线网络 扩展的卡尔曼滤波器 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]