基于无线网络的室内移动机器人定位方法研究  

Study on the Positioning Method for Indoor Mobile Robot Based on Wireless Network Technology

作　　者：杨佳丽[1] 史恩秀[1] 王晛[1] 李俊[1] 

机构地区：[1]西安理工大学机械与精密仪器工程学院,西安710048

出　　处：《机械科学与技术》2013年第3期457-461,468,共6页Mechanical Science and Technology for Aerospace Engineering

摘　　要：基于超声波测距原理,研究开发了一种以nRF24L01无线通信芯片为核心的移动机器人(mobile robot,MR)室内无线网络定位系统。定位系统由阵列式分布的超声波接收器和控制器、一台计算机、一个主控制器组成。使用STC12C5616AD单片机作为核心控制芯片,主控制器接收来自无线网络节点的数据,通过串口将数据发送到上位机进行数据采集和处理,再通过无线模块将此发送给车载系统以控制移动机器人运动。实现了上位机与室内定位系统及移动机器人之间的无线通信,以及移动机器人的实时定位。实验结果证明:该定位系统具有结构简单、成本低、抗各种干扰能力强的优点;定位误差不积累,精度较高,能满足工业用室内移动机器人定位精度的要求。A new wireless network indoor positioning system was developed based on nRF24L01. The system used uhra- sonic positioned method and was composed of a computer, a main controller and many wireless network nodes. The main controller and the wireless network node adopted STC12C5616AD as the core control unit. The main controller transited data to host computer for processing through the SCI ports, and then feedback the processed data to position system to control the mobile robot （MR）. The system achieved wireless communication among the indoor positioning system, the mobile robot and the host computer. Experimental results show that this control method has the advantages of low cost, simple structure, reliable wireless data transmission, strong anti-interference ability and high positioning accuracy.

关 键 词：STC12C5616AD NRF24L01 超声波 定位系统 无线数据传输 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]