基于无线传感器网络的机器人高精度定位系统

High Precision Positioning System of Robot Based on Wireless Sensor Network

摘要:

机器人的定位在运动控制系统和任务执行环节起着至关重要的作用,为了提高机器人在特殊环境中作业的定位精度,设计了一种基于无线传感器网络的机器人高精度定位系统。在微处理器ATmega1280的硬件平台上采用芯片NanoPAN5375接收信号强度指示(RSSI)进行测距定位,并利用对称双边双路测距和极大似然估计算法大大提高了定位精度；同时,使用基于轮询的时分多址接入协议和表驱动簇路由协议,解决了多机器人协同作业定位问题,并使系统在网络性能设计上得到了平衡;通过在60 m×60 m区域内的实验表明,该系统工作稳定可靠,测量的相对定位误差小于0.25 m,具有较高的定位精度,适用于机器人在矿井搜救、核泄漏检测和火山探索等特殊环境下的定位需要。

Abstract:

The robot positioning plays a vital role in the motion control system and task execution aspects, a robotic precision positioning system based on wireless sensor networks is designed to improve the positioning accuracy of the robot operating in a particular environment. The Receive Signal Strength Indication (RSSI) is used to rang and locate by Chip NanoPAN5375 on the on the microprocessor hardware platform ATmega1280, and the positioning accuracy is improved using dual ranging bilateral symmetry and maximum likelihood estimation algorithm. Meanwhile, the Multi-robot collaboration positioning is solved by based polling division multiple access protocol and table-driven cluster routing protocol, which makes the system to get a balance on the network performance. Through experiments in the 60m × 60m area show that the system is stable and reliable measure of the relative positioning error is less than 0.25m, with high accuracy, which is suitable for mine rescue robot positioning needs nuclear leak detection and volcanic exploration and other special circumstances.