基于无线传感器网络数据融合的运输机器人的跟踪和定位  

Tracking and Positioning for Transporting Robot Basedon Data Fusion in Wireless Sensor Network

作　　者：徐雪峰 黄余 XU Xuefeng;HUANG Yu(School of Architectural Decoration and Art Design,Jiangsu Vocational College of Electronics and Information,Huai an 223003,China;School of Advanced Students,Saint Louis University,Baguio 2600,Philippines)

机构地区：[1]江苏电子信息职业学院建筑装饰与艺术设计学院,江苏淮安223003 [2]圣路易斯大学研究生院,菲律宾碧瑶2600

出　　处：《人工智能科学与工程》2024年第4期76-85,共10页ARTIFICIAL INTELLIGENCE SCIENCE AND ENGINEERING

基　　金：江苏省科技厅产学研项目(BY20231018)。

摘　　要：针对大型产品生产型企业,提出了一种可工作在室内的小型运输机器人的位置跟踪和全局定位策略;首先通过对Nanotron科技的实时定位无线技术的分析,基于IEEE 802.15.4a网络协议设计了适合于具有开放路径导航的小型移动运输机器人的无线传感器网络,以提供实时通信和路由功能;然后应用扩展卡尔曼滤波和蒙特卡罗粒子滤波获得数据融合的传感器网络,从而实现运输机器人的精确位置跟踪和全局定位;实验结果表明,该方案不仅能够实现复杂室内环境中多个运输机器人的实时通信,而且能够有效地控制它们的精确位置移动和全局定位。In this paper,a position tracking and global positioning strategy for a small transporting robot that can work indoors is proposed for large production enterprises;Firstly,by analyzing the real-time positioning wireless technology of Nanotron technology,a wireless sensor network is designed based on IEEE 802.15.4a network protocol,which is suitable for small mobile transporting robots with open path navigation to provide real-time communication and routing functions;Then,extended Kalman filter and Monte Carlo particle filter are used to obtain the sensor network of data fusion,so as to realize the precise position tracking and global positioning of the transporting robot;Experimental results show that the proposed scheme can not only realize the real-time communication of multiple transporting robots in the complex indoor environment but also effectively control their precise position movement and global positioning.

关 键 词：生产型企业 无线传感器网络 移动机器人 IEEE 802.15.4a 跟踪/定位 锚节点 数据融合 

分 类 号：TP311.13[自动化与计算机技术—计算机软件与理论]