摘要
针对机器人在室内复杂环境中编码器易出现误差累计与零位漂移,智能算法计算成本高实时性差的定位困难,提出了一种基于ZigBee技术的室内定位方法。该定位系统由4个ZigBee模块,1个协调器组成。其中3个模块作为节点呈三角形排布固定在室内,机器人搭载1个盲节点,通过协调器实现节点间通讯。使用LabVIEW虚拟仪器技术实现接收信号强度(RSSI)至节点间距离转换的处理,利用已知的固定节点坐标和盲节点到三点之间距离,计算出盲节点的相对坐标,实现机器人定位。基于ZigBee的三边定位法,计算简单,不受环境复杂度的影响,成本低。经过调试与测试,定位误差小,满足机器人室内定位的要求。
An indoor location method based on ZigBee technology is proposed for positioning a robot in the complex indoor environment, because the classical algorithm is prone to error accumulation and zero drift, and tile intelligent algorithm has high computational cost and poor real-time performance. The new positioning system consists of four ZigBee modules and one coordinator. Three of these modules are arranged in a triangular in the room as fixed nodes. The robot is equipped with a blind node, and these nodes communicate each other through the coordinator. The virtual instrument technology LabVIEW is used to achieve the received signal strength indication （RSSI） transferring to the inter-node distances. Because the coordinates of the fixed nodes are known, the relative coordinate of the blind nude can be solved, so is the robot. The trilateral positioning method based on ZigBee is simple, low cost and can be used in complex environment. After debugging and testing, positioning error is small, hence the design meets the requirements of the robot indoor positioning.
出处
《实验室研究与探索》
CAS
北大核心
2017年第4期64-68,共5页
Research and Exploration In Laboratory
基金
苏州市科技计划项目(SYG201504)
关键词
室内定位
ZIGBEE技术
接收信号强度
虚拟仪器技术
indoor positioning
ZigBee technology
received signal strength indication （RSSI）
virtual instrumenttechnology
