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Mobile robot positioning method

A mobile robot and positioning method technology, applied in the field of robotics, can solve problems such as poor robustness, and achieve the effects of low cost, enhanced robustness, low power consumption and low cost

Active Publication Date: 2019-04-16
东阳市维创工业产品设计有限公司
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  • Claims
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AI Technical Summary

Problems solved by technology

[0005] The technology of the invention overcomes the deficiencies of the prior art and solves the problem of poor robustness of the traditional fingerprint-based indoor positioning system

Method used

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Embodiment Construction

[0035] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0036] A mobile robot positioning method, such as figure 1 As shown, it specifically includes the following steps:

[0037] Step S1: First, deploy 4 Bluetooth beacons in the indoor area to be located, respectively located at the four vertices, denoted as B 1 ,B 2 ,B 3 ,B 4 , the positions of these four beacons are known, denoted as

[0038] Step S2: The signal radiated by the beacon deployed in step S1 will form a radio wave signal field indoors. At different fingerprint sample points in the indoor area to be located, denoted as RP, collect radio signal strength characteristic data to form a characteristic data matrix

[0039]

[0040] in, Indicates Beacon B i At sample point RP j The radio signal strength at , N is the number o...

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Abstract

The invention discloses a mobile robot positioning method. The method comprises the following steps: deploying Bluetooth beacons, collecting radio signal strength feature data and forming a feature data matrix, calculating distances between a to-be-positioned point and four beacons, calculating (xw, Yw), calculating the similarity between the signal strength feature data and the feature data in the set, calculating (xs, ys), and merging to obtain a final estimated location. The mobile robot positioning method disclosed by the invention has the following beneficial effects: neither additionalexpensive equipment nor clock synchronization is required, so the power consumption and the cost are lower, and the robustness is relatively strong.

Description

technical field [0001] The invention relates to the field of robots, in particular to a positioning method for a mobile robot. Background technique [0002] With the rapid development of wireless communication, Internet technology and artificial intelligence, positioning technology has received extensive attention. In an indoor environment, due to the signal being affected by building occlusion and multipath effects, the positioning accuracy of the Global Navigation Satellite System (GNSS) is severely restricted and cannot meet the needs of indoor location services. Indoor positioning technology mainly completes the positioning of target tags through multiple base stations by building an indoor positioning system. At present, indoor positioning technologies are mainly divided into two categories: ranging-based and ranging-free. Common ranging-based methods mainly include algorithms based on received signal strength indication (RSSI), time-of-transition (TOA), time-differen...

Claims

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Application Information

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IPC IPC(8): H04W4/02H04W4/33H04W4/80H04W64/00G01S11/06
CPCG01S11/06H04W4/02H04W4/33H04W4/80H04W64/00Y02D30/70
Inventor 刘阳刘珂
Owner 东阳市维创工业产品设计有限公司
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