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Wireless locating method of mixed-type multiple-mobile-robot system

A multi-robot, wireless positioning system technology, applied in the field of wireless positioning of hybrid multi-mobile robot systems, can solve the problems of multiple devices and complex positioning methods

Inactive Publication Date: 2013-08-21
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is to overcome the defects and deficiencies of the existing multi-robot positioning method, which require many devices and complicated positioning methods, and design a simple and practical multi-robot static positioning method and multi-robot dynamic positioning method

Method used

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  • Wireless locating method of mixed-type multiple-mobile-robot system
  • Wireless locating method of mixed-type multiple-mobile-robot system
  • Wireless locating method of mixed-type multiple-mobile-robot system

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Embodiment

[0031] Example: refer to figure 1 , a hybrid multi-robot wireless positioning system consists of a monitoring center 1, a position-known robot 2 and multiple unknown-position robots i (i=3,4,5...N). The monitoring center 1 can control the movement of the robot with known position and the robot with unknown position, and can display the result of system positioning. This position shows that robot 2 has sufficient energy supply, strong computing power, and relatively high motion accuracy; multiple unknown robots i (i=3,4,5...N) are small in size, light in weight, and have limited computing resources. With a small number of sensors, but with wireless communication capabilities, it can communicate wirelessly with the position-aware robot 2.

[0032] refer to figure 2 and image 3 , the described position shows that the robot 2 is composed of a four-wheel mobile body 2-1, a power management system 2-2, a sensor system 2-3, a wireless communication system 2-4, and a control proc...

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Abstract

The invention discloses a wireless locating method of a mixed-type multiple-mobile-robot system. The mixed-type multiple-mobile-robot system comprises a monitoring center, a position-known robot and a plurality of position-unknown robots, wherein the monitoring center achieves control of the system and locating result display, the position-known robot is composed of a four-wheel mobile machine body, a power source management system, a sensor system, a wireless communication system and a control processing system, and each position-unknown robot is composed of a motion mechanism, a power source module, a sensor module and a wireless communication control module. The position-known robot can obtain positional information through the sensor system, motions to three different positions through dynamic motion, positional information in different positions is broadcast and sent to the position-unknown robots, and each position-unknown robot can calculate the distance between the position-unknown robot and the three different positions according to combination of the wireless signal strength and attenuation models of wireless signals propagation. Therefore, the positional information of the position-unknown robots can be obtained by means of trilateration.

Description

technical field [0001] The invention relates to multi-robot positioning, wireless positioning and mobile sensor network positioning, in particular to a wireless positioning method for a hybrid multi-mobile robot system. Background technique [0002] Wireless positioning technology has been widely used, such as the Global Positioning System (GPS) has been widely used in military, commercial and civilian fields. GPS positioning needs to be in an unobstructed outdoor environment, and requires a fixed infrastructure. User nodes consume a lot of energy and cost. The multi-mobile robot system using GPS positioning often fails due to factors such as GPS signal interference; the method of using odometer or inertial device for relative positioning has cumulative errors. With the increase of robot movement distance, the cumulative error will be unacceptable and positioning will occur Failed; the positioning system combining GPS and relative positioning methods has been extensively st...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/47
Inventor 张军宋光明彭瑾张颖宋爱国
Owner SOUTHEAST UNIV
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