基于WLAN的室内移动机器人定位系统的开发  

Development of an indoor mobile-robot localization system based on WLAN

作　　者：王殿君[1] 

机构地区：[1]北京石油化工学院机械工程学院,北京102617

出　　处：《高技术通讯》2013年第10期1048-1052,共5页Chinese High Technology Letters

基　　金：863计划(2007AA04Z255);北京市属高等学校人才强教深化计划(PHR201008355;PHR200907221)资助项目

摘　　要：针对无线局域网络(WLAN)技术在室内定位的特点,使用无线路由器,基于Visual C++6.0平台开发了一种室内移动机器人定位系统。分别以三边定位法和概率定位法为基础,移动机器人通过接收3个不同位置无线路由器的接收信号强度指示(RSSI)值,实现了室内移动机器人位置的测量。移动机器人定位实验表明,相比三边定位法,应用概率定位法后移动机器人系统可以较好地实现机器人稳定工作,其平均定位误差为0.430m,这个定位精度可以较好地满足室内移动机器人的定位要求。According to the characteristics of WLAN （wireless local area networks）technology for indoor localization, an indoor mobile-robot localization system with wireless touters was developed based on a Visual C ＋ ＋ 6.0 platform. The mobile-robot receives three RSSI（ Received Signal Strength Indication）labels sent by three wireless touters in different places, and then calculates its own position by respectively using the trilateral positioning method and the probability positioning method. The mobile-robot localization tests show that the localization system using the proba- bility positioning method works more stably compared to the one using the trilateral positioning method, and has an average localization deviation of 0. 430m. And the positioning accuracy can meet the positioning requirements of in- door mobile-robots.

关 键 词：无线局域网(WLAN) 移动机器人 三边定位法 概率定位法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]