CN103257353B - Wireless locating method of mixed-type multiple-mobile-robot system - Google Patents
Wireless locating method of mixed-type multiple-mobile-robot system Download PDFInfo
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- CN103257353B CN103257353B CN201310215027.8A CN201310215027A CN103257353B CN 103257353 B CN103257353 B CN 103257353B CN 201310215027 A CN201310215027 A CN 201310215027A CN 103257353 B CN103257353 B CN 103257353B
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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
The present invention relates to multirobot location, wireless location, mobile sensor network location, particularly a kind of confusion type multiple-mobile-robot system wireless location method.
Background technology
Wireless location technology is widely used, as GPS (GPS) etc. has been widely used in military affairs, business and civil area.GPS location needs at unscreened outdoor environment, and needs fixing infrastructure, and the energy consumption of user node is large, cost is high.Adopt the multiple-mobile-robot system often locate failure due to factors such as gps signal interference of GPS location; The method using odometer or inertia device to carry out relative positioning has cumulative errors, and along with the increase of robot motion's distance, cumulative errors cannot accept and occur locating unsuccessfully; The positioning system that GPS and relative positioning method combine is obtained and studies widely, this system uses the advantage of two kinds of localization methods, learn from other's strong points to offset one's weaknesses, achieve reasonable locating effect, but this localization method needs to set up complicated positioning system, energy consumption and computational resource requirements larger, can not be suitable for for hypomegetic multi-robot system.Locate for hypomegetic multirobot, researcher uses the known beaconing nodes in multiple fixing position to coordinate corresponding localization method to achieve location to robot, but this method needs to set up many fixing beaconing nodes, cost is high, and along with the range of movement of robot is different, this localization method has certain limitation, as in Chinese patent CN200910089308.7 based on the location etc. of active RFID beacon.Also have the method such as view-based access control model location, the equipment required for Chinese patent CN201110207544.1 and Chinese patent CN200910035489.5 is complicated, data processing and calculation of complex, for perception and the limited robot of computational resource not too applicable.For the orientation problem of multi-robot system, this patent devises a kind of confusion type multi-robot system localization method, a known robot in position is used to coordinate this localization method can realize positioning multiple Location-Unknown robot, the cost that this localization method needs is low, applied range, has certain help to the practical of multirobot.
Summary of the invention
Defect and the deficiencies such as technical matters to be solved by this invention is, overcomes existing multirobot localization method equipment needed thereby many, and localization method is complicated, design a kind of simple and practical multirobot static immobilization method and multirobot dynamic positioning method.
The technical scheme that the present invention takes is: a kind of confusion type multirobot wireless location system is made up of Surveillance center, a known robot in position and multiple Location-Unknown robot.Described Surveillance center can the motion of the known robot in control position and Location-Unknown robot, and can the result of display system location; The known robot in described position energy is in liberal supply, has stronger computing power, and its kinematic accuracy is higher; Described multiple Location-Unknown robots volume is little, and quality is light, and computational resource is limited, and only with a small amount of sensor, but have wireless communication ability, the robot that can automatically can detect with position carries out radio communication.
The known robot in described position moves body by four-wheel, power-supply management system, sensing system, wireless communication system, control treatment system form, four-wheel moves body and has higher kinematic accuracy, and differential driving can realize the advance of robot, retrogressing, the basic exercise function such as left-hand rotation and right-hand rotation; Other system that power-supply management system is robot provides energy and electric current and voltage information monitoring function; Sensing system is made up of odometer, three axle magnetometers, three axis accelerometer and gps signal receiving equipment, odometer can the rectilinear motion distance of measuring robots, thus determine the position of robot, three axle magnetometers and three axis accelerometer may be used for the course information of measuring robots and the obliquity information of robot, gps signal receiving equipment can calculate the positional information of robot, can make up the defect of single-sensor and improve positioning precision by acceleration multi-sensor information fusion; Wireless communication system can realize the communication with multiple Location-Unknown robot, realizes the location to multiple Location-Unknown robot; Control treatment system realizes the motion of the known robot in whole position, perception, communication control function.
Described Location-Unknown robot is made up of motion, power module, sensor assembly and radio communication control module, motion can be any type of motions such as wheeled, crawler type, spring, rolling, as long as can realize the motion of robot and the stable basic function such as to stand; Power module is compact lithium cell, and volume is little, quality is little, and energy supply is limited; Sensor assembly comprises three axle magnetometers and a three axis accelerometer, for the displacement of measuring robots; Radio communication control module can realize the motion control of robot, sensor information process, wireless data transceiving and self-position and calculate.
The method of the wireless distance finding between Liang Ge robot adopts attenuation model formula RSSI (d)=RSSI (d of radio signal propagation
0)-10nlg (d/d
0)-ξ
σ, wherein RSSI (d
0) be the signal intensity that Location-Unknown robot communicates between the two when distance and position known robot distance is 1 meter, n is path attenuation index, ξ
σfor standard deviation is the normal random variable of σ, n and ξ
σcan record by experiment before location, wireless signal strength RSSI (d) time the spacing only needing during location to record Liang Ge robot is d can obtain distance d according to above-mentioned computing formula.
Described multirobot wireless location method is divided into static immobilization method and dynamic positioning method.
Described multirobot static immobilization method is:
A known robot in position is at position (x
2-1, y
2-1) place detects and record self positional information, then by the positional information (x of self
2-1, y
2-1) broadcast to all Location-Unknown robot i (i=3,4,5 ... and wait for multiple Location-Unknown robot i (i=3,4,5 N) ... N) feedback acknowledgment information; Location-Unknown robot i receives the position (x of known for position robot after broadcast message
2-1, y
2-1) record, and extract the signal strength information of radio communication, use above-mentioned distance-finding method to calculate self-position (x according to the signal intensity extracted
i, y
i) and position (x
2-1, y
2-1) between distance d
2-1-i, then send feedback acknowledgment information to the known robot in position;
Receive all Location-Unknown robot i (i=3,4,5 ... N), after feedback acknowledgment information, the known robot in position starts from position (x
2-1, y
2-1) move to position (x at random
2-2, y
2-2), the sensor such as odometer or GPS according to self records position (x
2-2, y
2-2) positional information, then by the position (x of self
2-2, y
2-2) broadcast to all Location-Unknown robot i (i=3,4,5 ... and wait for the feedback acknowledgment information of multiple Location-Unknown robot N); Location-Unknown robot i (i=3,4,5 ... N) receive position (x new for known for position robot after broadcast message
2-2, y
2-2) record, and extract the signal strength information of radio communication, use above-mentioned distance-finding method to calculate self-position (x according to the signal intensity extracted
i, y
i) and position (x
2-2, y
2-2) between distance d
2-2-i, then send feedback acknowledgment information to the known robot in position;
After receiving the feedback acknowledgment information of all Location-Unknown robots, the known robot in position starts from position (x
2-2, y
2-2) move to position (x at random
2-3, y
2-3), the sensor such as odometer or GPS according to self records position (x
2-3, y
2-3) information, and by calculate ensure (x
2-1-x
2-3) (y
2-2-y
2-3)-(x
2-2-x
2-3) (y
2-1-y
2-3) ≠ 0, otherwise move to new position (x
2-3, y
2-3) and the inequality rejudged above whether set up, ensure inequality set up after by the position (x of self
2-3, y
2-3) broadcast to all Location-Unknown robot i (i=3,4,5 ... and wait for the feedback acknowledgment information of multiple Location-Unknown robot N); Multiple Location-Unknown robot i (i=3,4,5 ... N) receive position (x new for known for position robot after broadcast message
2-3, y
2-3) record, and extract the signal strength information of radio communication, then send feedback acknowledgment information to the known robot in position, and use above-mentioned distance-finding method to calculate self-position (x according to the signal intensity extracted
i, y
i) and position (x
2-3, y
2-3) between distance d
2-3-i;
When multiple Location-Unknown robot i (i=3,4,5 ... N) himself position (x is obtained
i, y
i) and position (x
2-1, y
2-1), (x
2-2, y
2-2) and (x
2-3, y
2-3) between distance d
2-1-i, d
2-2-iand d
2-3-itrilateration just can be used afterwards to obtain the position coordinates x of himself
iand y
i:
So just disposablely can obtain all Location-Unknown robot i (i=3,4,5 fast ... N) positional information.The positional information of oneself is wirelessly sent to the known robot in position by multiple Location-Unknown robot subsequently, and the positional information of Location-Unknown robot sends to Surveillance center to show by the known robot in position.
Described multirobot dynamic positioning method is:
In order to realize respective function and task, the known robot in position and Location-Unknown robot i (i=3, 4, 5 ... N) be all among dynamic motion, the known robot in position can detect positional information at any time, and periodically the broadcast of position information of oneself can be sent to all Location-Unknown robot i (i=3, 4, 5 ... N), and multiple Location-Unknown robot i (i=3, 4, 5 ... N) be also in the dynamic movement process of himself, they just can use when the positional information receiving at least three known robots in position above static immobilization method realize the determination of himself position, thus realize the location of self, the positional information of oneself is wirelessly sent to the known robot in position by multiple Location-Unknown robot subsequently, the positional information of Location-Unknown robot sends to Surveillance center to show by the known robot in position.
Technical scheme of the present invention is adopted to have following beneficial effect:
(1) the present invention is directed to multi-robot system perception and computational resource limited, the multirobot localization method that the present situation of location difficulty proposes, the mobile robot only needing a perception and computational resource to enrich can realize the location of multiple robot;
(2) to have resource requirement few for multi-robot system localization method of the present invention, the feature that locating speed is fast, the motion of the robot only needing single position to detect just can locate the position of other Location-Unknown robots all simultaneously, has the advantages that location efficiency is high;
(3) multirobot dynamic positioning method of the present invention can realize the Kinematic Positioning of multirobot in respective operation, has the practical value of reality, can accelerate the practicalization of multirobot.
Accompanying drawing explanation
Fig. 1 is the confusion type multiple-mobile-robot system schematic diagram of the embodiment of the present invention.
Fig. 2 is the known robot in the position composition schematic diagram of the embodiment of the present invention.
Fig. 3 is the position known robot sensor system composition schematic diagram of the embodiment of the present invention.
Fig. 4 is the Location-Unknown robot composition schematic diagram of the embodiment of the present invention.
Fig. 5 is multiple mobile robot's localization method schematic diagram of the embodiment of the present invention.
Fig. 6 is multiple mobile robot's co-positioned schematic flow sheet of the embodiment of the present invention.
Fig. 7 is multiple mobile robot's dynamic positioning method schematic diagram of the embodiment of the present invention.
Embodiment
Below in conjunction with drawings and Examples, principle of work of the present invention and the course of work are described in further detail.
Embodiment: with reference to Fig. 1, a kind of confusion type multirobot wireless location system is by 1, known robot in position 2 of Surveillance center and multiple Location-Unknown robot i (i=3,4,5 ... N) form.Described Surveillance center 1 can the motion of the known robot in control position and Location-Unknown robot, and can the result of display system location.Known robot 2 energy in this position is in liberal supply, has stronger computing power, and its kinematic accuracy is higher; Multiple Location-Unknown robot i (i=3,4,5 ... N) volume is little, and quality is light, and computational resource is limited, only with a small amount of sensor, but has wireless communication ability, can carry out radio communication with the known robot 2 in position.
With reference to Fig. 2 and Fig. 3, the known robot 2 in described position moves body 2-1, power-supply management system 2-2 by four-wheel, sensing system 2-3, wireless communication system 2-4, control treatment system 2-5 form, four-wheel moves body 2-1 and has higher kinematic accuracy, and differential driving can realize the advance of the known robot 2 in position, retrogressing, the basic exercise function such as left-hand rotation and right-hand rotation, other system that power-supply management system 2-2 is the known robot 2 in position provides energy and electric current and voltage information monitoring function, sensing system 2-3 is by odometer 2-3-1, three axle magnetometer 2-3-2, three axis accelerometer 2-3-3 and gps signal receiving equipment 2-3-4 forms, odometer 2-3-1 can detect the rectilinear motion distance of the known robot 2 in position, thus determine the position of robot, three axle magnetometer 2-3-2 and three axis accelerometer 2-3-3 may be used for the course information and the obliquity information that detect the known robot 2 in position, gps signal receiving equipment 2-3-4 can calculate the positional information of the known robot 2 in position, the defect of single-sensor can be made up by acceleration multi-sensor information fusion and improve positioning precision, wireless communication system 2-4 can realize and multiple Location-Unknown robot i (i=3,4,5 ... N) communication, realizes multiple Location-Unknown robot i (i=3,4,5 ... N) location, control treatment system 2-5 realizes the motion of the known robot 2 in whole position, perception, communication control function.
With reference to Fig. 4, described Location-Unknown robot i (i=3,4,5 ... N) be made up of motion i-1, power module i-2, sensor assembly i-3 and radio communication control module i-4, motion i-1 can be any type of motions such as wheeled, crawler type, spring, rolling, as long as Location-Unknown robot i (i=3,4,5 can be realized ... N) motion and the stable basic function such as to stand; Power module i-2 is compact lithium cell; Sensor assembly i-3 comprises a three axle magnetometer i-3-1 and three axis accelerometer i-3-2, for detecting position unknown machine people i (i=3,4,5 ... N) displacement; Radio communication control module i-4 can realize Location-Unknown robot i (i=3,4,5 ... N) motion control, sensor information process, wireless data transceiving and self-position calculate.
With reference to Fig. 5 and Fig. 6, described multirobot static immobilization method is:
The method of the wireless distance finding between Liang Ge robot is attenuation model formula RSSI (d)=RSSI (d adopting radio signal propagation
0)-10nlg (d/d
0)-ξ
σ, wherein RSSI (d
0) be Location-Unknown robot i (i=3,4,5 ... N) signal intensity communicated between the two when distance and position known robot 1 distance is 1 meter, n is path attenuation index, ξ
σfor standard deviation is the normal random variable of σ, n and ξ
σcan record by experiment before location, wireless signal strength RSSI (d) time the spacing only needing during location to record Liang Ge robot is d can obtain distance d according to above-mentioned computing formula.The step of the static wireless location of multirobot is:
Step SJ1: first a known machine 2 in position is at position (x
2-1, y
2-1) place detects and record self positional information, then by the positional information (x of self
2-1, y
2-1) broadcast to all Location-Unknown robot i (i=3,4,5 ... and holding fix unknown machine people i (i=3,4,5 N) ... N) feedback acknowledgment information;
Step SJ2: Location-Unknown robot i (i=3,4,5 ... N) receive the position (x of known for position robot after broadcast message
2-1, y
2-1) record, and extract the signal strength information of radio communication, use above-mentioned distance-finding method to calculate self-position (x according to the signal intensity extracted
i, y
i) and position (x
2-1, y
2-1) between distance d
1-1-i,
Step SJ3: Location-Unknown robot i (i=3,4,5 ... N) feedback acknowledgment information is sent to the known robot 2 in position;
Step SJ4: receive all Location-Unknown robot i (i=3,4,5 ... N), after feedback acknowledgment information, the known robot 2 in position starts from position (x
2-1, y
2-1) move to position (x at random
2-2, y
2-2);
Step SJ5: the known robot 2 in position records positional information (x according to sensors such as the odometer of self or GPS
2-2, y
2-2), by the position (x of self
2-2, y
2-2) broadcast to all Location-Unknown robot i (i=3,4,5 ... and the feedback acknowledgment information of holding fix unknown machine people N);
Step SJ6: Location-Unknown robot i (i=3,4,5 ... N) receive position (x new for known for position robot after broadcast message
2-2, y
2-2) record, and extract the signal strength information of radio communication, use above-mentioned distance-finding method to calculate self-position (x according to the signal intensity extracted
i, y
i) and position (x
2-2, y
2-2) between distance d
2-2-i;
Step SJ7: Location-Unknown robot i (i=3,4,5 ... N) feedback acknowledgment information is sent to position known machine people 2;
Step SJ8: receive all Location-Unknown robot i (i=3,4,5 ... N), after feedback acknowledgment information, the known robot 2 in position starts from position (x
2-2, y
2-2) move to position (x at random
2-3, y
2-3);
Step SJ9: the known robot 2 in position records positional information (x according to sensors such as the odometer of self or GPS
2-3, y
2-3), and ensure (x by calculating
2-1-x
2-3) (y
2-2-y
2-3)-(x
2-2-x
2-3) (y
2-1-y
2-3) ≠ 0, otherwise repeat step SJ8, move to new position (x
2-3, y
2-3) enter step SJ9 again;
Step SJ10: after ensureing that above-mentioned inequality is set up, the known robot 2 in position is by the position (x of self
2-3, y
2-3) broadcast to all Location-Unknown robot i (i=3,4,5 ... and wait for multiple Location-Unknown robot i (i=3,4,5 N) ... N) feedback acknowledgment information;
Step SJ11: Location-Unknown robot i (i=3,4,5 ... N) receive position (x new for known for position robot after broadcast message
2-3, y
2-3) record, and extract the signal strength information of radio communication, use above-mentioned distance-finding method to calculate self-position (x according to the signal intensity extracted
i, y
i) and position (x
2-3, y
2-3) between distance d
2-3-i;
Step SJ12: Location-Unknown robot i (i=3,4,5 ... N) feedback acknowledgment information is sent to the known robot 2 in position;
Step SJ13: the known robot in position 2 receives all Location-Unknown robot i (i=3,4,5 ... N) feedback acknowledgment information, waits for positioning result;
Step SJ14: multiple Location-Unknown robot i (i=3,4,5 ... N) himself position (x is obtained
i, y
i) and position (x
2-1, y
2-1), (x
2-2, y
2-2) and (x
2-3, y
2-3) between distance d
2-1-i, d
2-2-iand d
2-3-itrilateration just can be used afterwards to obtain the position coordinates x of himself
iand y
i;
Step SJ15: multiple Location-Unknown robot i (i=3,4,5 ... N) the self-position coordinate information obtained is sent to the known robot 2 in position;
Step SJ16: the known robot in position 2 receives multiple Location-Unknown robot i (i=3,4,5 ... N) Surveillance center 1 is sent it to after location coordinate information;
Step SJ17: positioning result can show by Surveillance center 1, so just disposablely can obtain all Location-Unknown robot i (i=3,4,5 fast ... N) positional information.
See Fig. 7, described multirobot dynamic positioning method step is:
Step SD1: the known robot 2 in position periodically monitors self positional information among dynamic motion;
Step SD2: the own location information detected is broadcast to all Location-Unknown robot i (i=3,4,5 by the known robot in position 2 ... N);
Step SD3: Location-Unknown robot i (i=3,4,5 ... N) just can use when the positional information receiving at least three known robots in position above static immobilization method realize the determination of himself position, thus realize the location of self;
Step SD4: Location-Unknown robot i (i=3,4,5 ... N) the self-position coordinate information obtained is sent to the known robot 2 in position;
Step SD5: the known robot in position 2 receives multiple Location-Unknown robot i (i=3,4,5 ... N) Surveillance center 1 is sent it to after location coordinate information;
Step SD6: positioning result can show by Surveillance center 1.
Claims (2)
1. the wireless location method of a confusion type multiple mobile robot wireless location system, described confusion type multiple mobile robot wireless location system is made up of Surveillance center, a known robot in position and multiple Location-Unknown robot, described Surveillance center can the motion of the known robot in control position and Location-Unknown robot, and can the result of display system location; The known robot in described position moves body by four-wheel, power-supply management system, sensing system, wireless communication system, control treatment system form,
Described four-wheel moves the motor function that body can realize the advance of robot, retrogressing, left-hand rotation and right-hand rotation; Other system that described power-supply management system is robot provides energy and electric current and voltage information monitoring function; Described sensing system is made up of odometer, three axle magnetometers, three axis accelerometer and gps signal receiving equipment, described odometer can measuring robots rectilinear motion distance thus determine the position of robot, described three axle magnetometers and three axis accelerometer may be used for the course information of measuring robots and the obliquity information of robot, described gps signal receiving equipment can calculate the positional information of robot, can make up the defect of single-sensor and improve positioning precision by acceleration multi-sensor information fusion; Described wireless communication system can realize the communication with multiple Location-Unknown robot, realizes the location to multiple Location-Unknown robot, also can realize control command positioning result being wirelessly sent to Surveillance center and receiving Surveillance center; Described control treatment system realizes the motion of the known robot in whole position, perception, communication control function;
Described Location-Unknown robot is made up of motion, power module, sensor assembly and radio communication control module, and described motion is the motion of arbitrary form of wheeled, crawler type, spring or rolling; Described power module is compact lithium cell; Described sensor assembly comprises three axle magnetometers and a three axis accelerometer, for the displacement of measuring robots; Described radio communication control module can realize the motion control of robot, sensor information process, wireless data transceiving and self-position and calculate; Wireless distance finding method wherein between the known robot in position and Location-Unknown robot adopts attenuation model formula RSSI (d)=RSSI (d of radio signal propagation
0)-10nlg (d/d
0)-ξ
σ, wherein RSSI (d
0) be the signal intensity that Location-Unknown robot communicates between the two when distance and position known robot distance is 1 meter, n is path attenuation index, ξ
σfor standard deviation is the normal random variable of σ, n and ξ
σcan record by experiment before location, wireless signal strength RSSI (d) time the spacing only needing during location to record Liang Ge robot is d can obtain distance d according to above-mentioned computing formula;
The known robot in one of them position is at position (x
2-1, y
2-1) place detects and record self positional information, then by the positional information (x of self
2-1, y
2-1) broadcast to all Location-Unknown robot i (i=3,4,5 ... and wait for multiple Location-Unknown robot i (i=3,4,5 N) ... N) feedback acknowledgment information; Location-Unknown robot i receives the position (x of known for position robot after broadcast message
2-1, y
2-1) record, and extract the signal strength information of radio communication, use above-mentioned distance-finding method calculating self and position (x according to the signal intensity extracted
2-1, y
2-1) between distance d
2-1-i, then send feedback acknowledgment information to the known robot in position; Receive all Location-Unknown robot i (i=3,4,5 ... N), after feedback acknowledgment information, the known robot in position starts from position (x
2-1, y
2-1) move to position (x at random
2-2, y
2-2), record position (x according to self odometer or GPS sensor
2-2, y
2-2) information, then by the position (x of self
2-2, y
2-2) broadcast to all Location-Unknown robot i (i=3,4,5 ... and wait for the feedback acknowledgment information of multiple Location-Unknown robot N); Location-Unknown robot i (i=3,4,5 ... N) receive position (x new for known for position robot after broadcast message
2-2, y
2-2) record, and extract the signal strength information of radio communication, use above-mentioned distance-finding method calculating self and position (x according to the signal intensity extracted
2-2, y
2-2) between distance d
2-2-i, then send feedback acknowledgment information to the known robot in position;
After receiving the feedback acknowledgment information of all Location-Unknown robots, the known robot in position starts from position (x
2-2, y
2-2) move to position (x at random
2-3, y
2-3), record position (x according to self odometer or GPS sensor
2-3, y
2-3) information, and by calculate ensure (x
2-1-x
2-3) (y
2-2-y
2-3)-(x
2-2-x
2-3) (y
2-1-y
2-3) ≠ 0, otherwise move to new position (x
2-3, y
2-3) and the inequality rejudged above whether set up, ensure inequality set up after by the position (x of self
2-3, y
2-3) broadcast to all Location-Unknown robot i (i=3,4,5 ... and wait for the feedback acknowledgment information of multiple Location-Unknown robot N); Multiple Location-Unknown robot i (i=3,4,5 ... N) receive position (x new for known for position robot after broadcast message
2-3, y
2-3) record, and extract the signal strength information of radio communication, then send feedback acknowledgment information to the known robot in position, and use above-mentioned distance-finding method calculating self and position (x according to the signal intensity extracted
2-3, y
2-3) between distance d
2-3-i;
When multiple Location-Unknown robot i (i=3,4,5 ... N) himself position (x is obtained
i, y
i) and position (x
2-1, y
2-1), (x
2-2, y
2-2) and (x
2-3, y
2-3) between distance d
2-1-i, d
2-2-iand d
2-3-itrilateration just can be used afterwards to obtain the position coordinates x of himself
iand y
i:
So disposablely can obtain all Location-Unknown robot i (i=3 fast, 4,5 ... N) positional information, the positional information of oneself is wirelessly sent to the known robot in position by multiple Location-Unknown robot subsequently, the positional information of Location-Unknown robot is sent to Surveillance center by the known robot in position, and positioning result can show by Surveillance center.
2. the wireless location method of confusion type multiple mobile robot wireless location system as claimed in claim 1, the wherein known robot in position and Location-Unknown robot i (i=3, 4, 5 ... N) be all among dynamic motion, the known robot in position detects positional information at any time, and periodically the broadcast of position information of oneself is sent to all Location-Unknown robot i (i=3, 4, 5 ... N), and multiple Location-Unknown robot i (i=3, 4, 5 ... N) be also in the dynamic movement process of himself, they realize the determination of himself position with regard to the static immobilization method above use when the positional information receiving at least three known robots in position, thus realize the location of self, the positional information of oneself is wirelessly sent to the known robot in position by multiple Location-Unknown robot, the positional information of Location-Unknown robot is sent to Surveillance center by the known robot in position, positioning result can show by Surveillance center.
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| CN105538284A (en) * | 2016-01-28 | 2016-05-04 | 吴光耀 | Portable basketball robot |
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| CN103763042B (en) * | 2013-10-18 | 2016-05-25 | 江苏大学 | Experimental technique and the device of mapping relations between the instruction of research signal strength signal intensity and distance |
| CN105500336B (en) * | 2016-01-28 | 2018-12-11 | 绍兴阿杜纺织有限公司 | A kind of portable basket-playing machine device people's control method |
| CN105500334B (en) * | 2016-01-28 | 2018-12-07 | 绍兴柯桥皆美达纺织品有限公司 | A kind of basketball robot system |
| CN105500335B (en) * | 2016-01-28 | 2016-12-14 | 吴光耀 | Basketball robot control method |
| CN113311831B (en) * | 2021-05-13 | 2022-06-07 | 南京邮电大学 | Multi-robot path conflict solution method based on wireless signal intensity change |
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| US6374155B1 (en) * | 1999-11-24 | 2002-04-16 | Personal Robotics, Inc. | Autonomous multi-platform robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105538284A (en) * | 2016-01-28 | 2016-05-04 | 吴光耀 | Portable basketball robot |
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