CN103257353A - 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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- CN103257353A CN103257353A CN2013102150278A CN201310215027A CN103257353A CN 103257353 A CN103257353 A CN 103257353A CN 2013102150278 A CN2013102150278 A CN 2013102150278A CN 201310215027 A CN201310215027 A CN 201310215027A CN 103257353 A CN103257353 A CN 103257353A
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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 has obtained widely using, and has been widely used in military affairs, commerce and civil area as GPS (GPS) etc.GPS location need be at unscreened outdoor environment, and needs fixing infrastructure, and the energy consumption of user node is big, cost is high.The multiple-mobile-robot system that adopts the GPS location is often because factor such as gps signal interference and locate failure; The method of 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 can't be accepted and the location failure occur; The positioning system of GPS and the combination of relative positioning method has been obtained research widely, this system uses the advantage of two kinds of localization methods, learn from other's strong points to offset one's weaknesses, realized reasonable locating effect, but this localization method need be set up complicated positioning system, energy consumption and computational resource requirements are bigger, can not be suitable for for hypomegetic multi-robot system.At hypomegetic multirobot location, the researcher uses the beaconing nodes of a plurality of fixing location awares to cooperate corresponding localization method to realize location to robot, but this method need be set up many fixing beaconing nodes, the cost height, and the range of movement difference along with robot, this localization method has certain limitation, as among the Chinese patent CN200910089308.7 based on location of active RFID beacon etc.Also have based on methods such as vision location, as Chinese patent CN201110207544.1 and Chinese patent CN200910035489.5 devices needed complexity, data are handled and calculation of complex, and are not too suitable for the robot that perception and computational resource are limited.Orientation problem at multi-robot system, this patent has designed a kind of confusion type multi-robot system localization method, use a position as can be known robot cooperate this localization method can realize a plurality of position unknown machine people are positioned, the cost that this localization method needs is low, applied range has certain help to the practicability of multirobot.
Summary of the invention
Technical matters to be solved by this invention is that it is many to overcome existing multirobot localization method equipment needed thereby, and defective and deficiencies such as localization method complexity 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: robot and a plurality of position unknown machine people form a kind of confusion type multirobot wireless location system as can be known by Surveillance center, position.Described Surveillance center can the control position robot and position unknown machine people's motion as can be known, and result that can the display system location; The robot energy is in liberal supply as can be known in described position, has stronger computing power, and its kinematic accuracy is than higher; Described a plurality of positions unknown machine people volume is little, and quality is light, and computational resource is limited, only has small number of sensors, but has wireless communication ability, can carry out radio communication with the robot that the position can be detected automatically.
Described position robot is as can be known moved body, power-supply management system, sensing system, wireless communication system, control disposal system by four-wheel and is formed, four-wheel moves body to have than higher kinematic accuracy, and differential driving can realize basic exercise functions such as the advancing of robot, back leg, left-hand rotation and right-hand rotation; Power-supply management system provides energy and electric current and voltage information monitoring function for other system of robot; Sensing system is made up of odometer, three magnetometers, three axis accelerometer and gps signal receiving equipments, odometer can the detection machine people the rectilinear motion distance, thereby determine the position of robot, three magnetometers and three axis accelerometer can be for detection of the course information of robot and the obliquity informations of robot, the gps signal receiving equipment can calculate the positional information of robot, can remedy the defective of single-sensor and improve bearing accuracy by the acceleration multi-sensor information fusion; Wireless communication system can be realized and the communicating by letter of a plurality of position unknown machine people, and realizes the location to a plurality of position unknown machine people; The control disposal system realizes whole position motion, perception, the communication control function of robot as can be known.
Described position unknown machine people 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 motion and the stable basic function such as stand of robot; Power module is compact lithium cell, and volume is little, quality is little, and the energy supply is limited; Sensor assembly comprises three magnetometers and a three axis accelerometer, for detection of the displacement of robot; The radio communication control module can realize that motion control, sensor information processing, wireless data transceiving and the self-position of robot calculate.
The method of the wireless distance finding between two robots adopts attenuation model formula RSSI (d)=RSSI (d of radio signal propagation
0)-10nlg (d/d
0)-ξ σ, wherein RSSI (d
0) be position unknown machine people distance and position as can be known the robot distance be the signal intensity of communication between the two under 1 meter the situation, n is the path attenuation index, ξ σ is that standard deviation is the normal random variable of σ, n and ξ σ can record before the location by experiment, and the wireless signal strength RSSI (d) that only need record during the location when distance is for d between two robots can obtain apart from 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:
Position as can be known robot at position (x
2-1, y
2-1) locate to detect and record the positional information of self, then with self positional information (x
2-1, y
2-1) broadcast to all position unknown machine people i (i=3,4,5 ... and wait for a plurality of position unknown machine people i (i=3,4,5 N) ... N) feedback acknowledgment information; Position unknown machine people i receives after the broadcast message the position position (x of robot as can be known
2-1, y
2-1) note, 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 of extracting
i, y
i) and position (x
2-1, y
2-1) between apart from d
2-1-i, send feedback acknowledgment information then to position robot as can be known;
Receive all position unknown machine people i (i=3,4,5 ... N) after the feedback acknowledgment information, position robot as can be known begins 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 sensor such as GPS
2-2, y
2-2) positional information, then with self position (x
2-2, y
2-2) broadcast to all position unknown machine people i (i=3,4,5 ... and wait for a plurality of position unknown machine people's feedback acknowledgment information N); Position unknown machine people i (i=3,4,5 ... N) receive after the broadcast message the position position (x that robot is new as can be known
2-2, y
2-2) note, 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 of extracting
i, y
i) and position (x
2-2, y
2-2) between apart from d
2-2-i, send feedback acknowledgment information then to position robot as can be known;
After receiving the feedback acknowledgment information of all multirobots, position robot as can be known begins 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 sensor such as GPS
2-3, y
2-3) information, and by calculate guaranteeing (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 rejudge top inequality and whether set up, guarantee inequality set up after with self position (x
2-3, y
2-3) broadcast to all position unknown machine people i (i=3,4,5 ... and wait for a plurality of position unknown machine people's feedback acknowledgment information N); A plurality of position unknown machine people i (i=3,4,5 ... N) receive after the broadcast message the position position (x that robot is new as can be known
2-3, y
2-3) note, and extract the signal strength information of radio communication, send feedback acknowledgment information then to position robot as can be known, and use above-mentioned distance-finding method to calculate self-position (x according to the signal intensity of extracting
i, y
i) and position (x
2-3, y
2-3) between apart from d
2-3-i
When a plurality of position unknown machine people i (i=3,4,5 ... N) obtained himself position (x
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 apart from d
2-1-i, d
2-2-iAnd d
2-3-iThe back just can be used
Trilateration obtains the position coordinates x of himself
iAnd y
i:
So just can disposablely obtain all position unknown machine people i (i=3,4,5 fast ... N) positional information.A plurality of unknown position robot is wirelessly sent to position robot as can be known with the positional information of oneself subsequently, and position robot as can be known sends to Surveillance center with position unknown machine people's positional information and shows.
Described multirobot dynamic positioning method is:
In order to realize function and task separately, the position is robot and position unknown machine people i (i=3 as can be known, 4,5 ... N) all be among the dynamic motion, at any time positional information can be detected in position robot as can be known, and can be periodically oneself broadcast of position information be sent to all position unknown machine people i (i=3,4,5 ... N), and a plurality of position unknown machine people i (i=3,4,5 ... N) also be in the dynamic movement process of himself, they realize determining of himself position receiving the static immobilization method of at least three positions above just can using in the positional information of robot as can be known, thereby realize the location of self, a plurality of unknown position robot is wirelessly sent to position robot as can be known with the positional information of oneself subsequently, and position robot as can be known sends to Surveillance center with position unknown machine people's positional information and shows.
Adopt technical scheme of the present invention that following beneficial effect will be arranged:
(1) it is limited to the present invention is directed to multi-robot system perception and computational resource, the multirobot localization method that the present situation of location difficulty proposes, the location that only needs the abundant mobile robot of a perception and computational resource can realize a plurality of robots;
(2) to have a resource requirement few for multi-robot system localization method of the present invention, the characteristics that locating speed is fast, only need the motion of the robot that single position can detect just can locate all other position unknown machine people's position simultaneously, have the high characteristics of location efficiency;
(3) multirobot dynamic positioning method of the present invention can be realized the Kinematic Positioning of multirobot in operation separately, has the practical value of reality, can accelerate the practicalization of multirobot.
Description of drawings
Fig. 1 is the confusion type multiple-mobile-robot system synoptic diagram of the embodiment of the invention.
Fig. 2 be the embodiment of the invention the position as can be known robot form synoptic diagram.
Fig. 3 be the embodiment of the invention the position as can be known the robot sensor system form synoptic diagram.
Fig. 4 is that the position unknown machine people of the embodiment of the invention forms synoptic diagram.
Fig. 5 is multiple mobile robot's localization method synoptic diagram of the embodiment of the invention.
Fig. 6 is multiple mobile robot's co-positioned schematic flow sheet of the embodiment of the invention.
Fig. 7 is multiple mobile robot's dynamic positioning method synoptic diagram of the embodiment of the 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 Surveillance center 1, position robot 2 and a plurality of position unknown machine people i (i=3,4,5 as can be known ... N) form.Described Surveillance center 1 can the control position robot and position unknown machine people's motion as can be known, and result that can the display system location.Robot 2 energy are in liberal supply as can be known in this position, have stronger computing power, and its kinematic accuracy is than higher; A plurality of position unknown machine people i (i=3,4,5 ... N) volume is little, and quality is light, and computational resource is limited, only has small number of sensors, but has wireless communication ability, can with the position as can be known robot 2 carry out radio communication.
With reference to Fig. 2 and Fig. 3, described position as can be known robot 2 by four-wheel move body 2-1, power-supply management system 2-2, sensing system 2-3, wireless communication system 2-4, control disposal system 2-5 forms, four-wheel moves body 2-1 to have than higher kinematic accuracy, and differential driving can realize position basic exercise function such as the advancing of robot 2, back leg, left-hand rotation and right-hand rotation as can be known; Power-supply management system 2-2 for the position as can be known other system of robot 2 energy and electric current and voltage information monitoring function are provided; Sensing system 2-3 is by odometer 2-3-1, three magnetometer 2-3-2, three axis accelerometer 2-3-3 and gps signal receiving equipment 2-3-4 form, odometer 2-3-1 can the detection position rectilinear motion distance of robot 2 as can be known, thereby determine the position of robot, three magnetometer 2-3-2 and three axis accelerometer 2-3-3 can be for detection of position course information and the obliquity informations of robot 2 as can be known, gps signal receiving equipment 2-3-4 can calculate the position positional information of robot 2 as can be known, can remedy the defective of single-sensor and improve bearing accuracy by the acceleration multi-sensor information fusion; Wireless communication system 2-4 can realize and a plurality of position unknown machine people i (i=3,4,5 ... N) communication realizes a plurality of position unknown machine people i (i=3,4,5 ... N) location; Control disposal system 2-5 realizes whole position motion, perception, the communication control function of robot 2 as can be known.
With reference to Fig. 4, described position unknown machine people i (i=3,4,5 ... N) formed by 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 can realize position unknown machine people i (i=3,4,5 ... N) motion and stable basic function such as stand get final product; Power module i-2 is compact lithium cell; Sensor assembly i-3 comprises three magnetometer i-3-1 and a three axis accelerometer i-3-2, for detection of position unknown machine people i (i=3,4,5 ... N) displacement; Radio communication control module i-4 can realize position unknown machine people i (i=3,4,5 ... N) motion control, sensor information processing, 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 two robots is to adopt attenuation model formula RSSI (d)=RSSI (d of radio signal propagation
0)-10nlg (d/d
0)-ξ σ, wherein RSSI (d0) is position unknown machine people i (i=3,4,5 ... N) distance and position as can be known robot 1 distance be the signal intensity of communication between the two under 1 meter the situation, n is the path attenuation index, ξ σ is that standard deviation is the normal random variable of σ, and n and ξ σ can record before the location by experiment, and the wireless signal strength RSSI (d) that only need record during the location when distance is for d between two robots can obtain apart from d according to above-mentioned computing formula.The step of the static wireless location of multirobot is:
Step SJ1: at first position as can be known machine 2 at position (x
2-1, y
2-1) locate to detect and record the positional information of self, then with self positional information (x
2-1, y
2-1) broadcast to all position unknown machine people i (i=3,4,5 ... and holding fix unknown machine people i (i=3,4,5 N) ... N) feedback acknowledgment information;
Step SJ2: position unknown machine people i (i=3,4,5 ... N) receive after the broadcast message the position position (x of robot as can be known
2-1, y
2-1) note, 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 of extracting
i, y
i) and position (x
2-1, y
2-1) between apart from d
1-1-i,
Step SJ3: position unknown machine people i (i=3,4,5 ... N) send feedback acknowledgment information to position robot 2 as can be known;
Step SJ4: receive all position unknown machine people i (i=3,4,5 ... N) after the feedback acknowledgment information, position robot 2 as can be known begins from position (x
2-1, y
2-1) move to position (x at random
2-2, y
2-2);
Step SJ5: position robot 2 as can be known records positional information (x according to self odometer or sensor such as GPS
2-2, y
2-2), with the position (x of self
2-2, y
2-2) broadcast to all position unknown machine people i (i=3,4,5 ... and holding fix unknown machine people's feedback acknowledgment information N);
Step SJ6: position unknown machine people i (i=3,4,5 ... N) receive after the broadcast message the position position (x that robot is new as can be known
2-2, y
2-2) note, 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 of extracting
i, y
i) and position (x
2-2, y
2-2) between apart from d
2-2-i
Step SJ7: position unknown machine people i (i=3,4,5 ... N) send feedback acknowledgment information to location aware robot 2;
Step SJ8: receive all position unknown machine people i (i=3,4,5 ... N) after the feedback acknowledgment information, position robot 2 as can be known begins from position (x
2-2, y
2-2) move to position (x at random
2-3, y
2-3);
Step SJ9: position robot 2 as can be known records positional information (x according to self odometer or sensor such as GPS
2-3, y
2-3), and by calculating assurance (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 repeating step SJ8 move to new position (x
2-3, y
2-3) enter step SJ9 again;
Step SJ10: after guaranteeing that above-mentioned inequality is set up, the position as can be known robot 2 with the position (x of self
2-3, y
2-3) broadcast to all position unknown machine people i (i=3,4,5 ... and wait for a plurality of position unknown machine people i (i=3,4,5 N) ... N) feedback acknowledgment information;
Step SJ11: position unknown machine people i (i=3,4,5 ... N) receive after the broadcast message the position position (x that robot is new as can be known
2-3, y
2-3) note, 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 of extracting
i, y
i) and position (x
2-3, y
2-3) between apart from d
2-3-i
Step SJ12: position unknown machine people i (i=3,4,5 ... N) send feedback acknowledgment information to position robot 2 as can be known;
Step SJ13: all position unknown machine people i (i=3,4,5 are received in position robot 2 as can be known ... N) feedback acknowledgment information is waited for positioning result;
Step SJ14: a plurality of position unknown machine people i (i=3,4,5 ... N) obtained himself position (x
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 apart from d
2-1-i, d
2-2-iAnd d
2-3-iThe back just can use trilateration to obtain the position coordinates x of himself
iAnd y
i
Step SJ15: a plurality of position unknown machine people i (i=3,4,5 ... N) the self-position coordinate information that obtains is sent to position robot 2 as can be known;
Step SJ16: a plurality of position unknown machine people i (i=3,4,5 are received in position robot 2 as can be known ... N) send it to Surveillance center 1 behind the location coordinate information;
Step SJ17: Surveillance center 1 can show positioning result, so just can disposablely obtain all position unknown machine people i (i=3,4,5 fast ... N) positional information.
Referring to Fig. 7, described multirobot dynamic positioning method step is:
Step SD1: self positional information is periodically monitored in position robot 2 as can be known among dynamic motion;
Step SD2: position robot 2 as can be known broadcasts to all position unknown machine people i (i=3,4,5 with detected self-position information ... N);
Step SD3: position unknown machine people i (i=3,4,5 ... N) realize determining of himself position receiving the static immobilization method of at least three positions above just can using in the positional information of robot as can be known, thereby realize the location of self;
Step SD4: position unknown machine people i (i=3,4,5 ... N) the self-position coordinate information that obtains is sent to position robot 2 as can be known;
Step SD5: a plurality of position unknown machine people i (i=3,4,5 are received in position robot 2 as can be known ... N) send it to Surveillance center 1 behind the location coordinate information;
Step SD6: Surveillance center 1 can show positioning result.
Claims (4)
1. confusion type multirobot wireless location system, it is characterized in that, robot and a plurality of position unknown machine people form this confusion type multirobot wireless location system as can be known by Surveillance center, position, described Surveillance center can the control position robot and position unknown machine people's motion as can be known, and result that can the display system location; Described position robot is as can be known moved body, power-supply management system, sensing system, wireless communication system, control disposal system by four-wheel and is formed,
Described four-wheel moves the motor function that body can be realized the advancing of robot, back leg, left-hand rotation and right-hand rotation; Described power-supply management system provides energy and electric current and voltage information monitoring function for other system of robot; Described sensing system is made up of odometer, three magnetometers, three axis accelerometer and gps signal receiving equipments, thereby the rectilinear motion that described odometer can detection machine people distance is determined the position of robot, described three magnetometers and three axis accelerometer can be for detection of the course information of robot and the obliquity informations of robot, described gps signal receiving equipment can calculate the positional information of robot, can remedy the defective of single-sensor and improve bearing accuracy by the acceleration multi-sensor information fusion; Described wireless communication system can be realized and the communicating by letter of a plurality of position unknown machine people, and realizes the location to a plurality of position unknown machine people, also can realize the control command that positioning result is wirelessly sent to Surveillance center and receives Surveillance center; Described control disposal system realizes whole position motion, perception, the communication control function of robot as can be known;
Described position unknown machine people 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 magnetometers and a three axis accelerometer, for detection of the displacement of robot; Described radio communication control module can realize that motion control, sensor information processing, wireless data transceiving and the self-position of robot calculate.
2. confusion type multirobot wireless location system as claimed in claim 1, wherein the position as can be known the method for the wireless distance finding between robot and the position unknown machine people adopt attenuation model formula RSSI (d)=RSSI (d of radio signal propagation
0)-10nlg (d/d
0)-ξ σ, wherein RSSI (d0) be position unknown machine people distance and position as can be known the robot distance be the signal intensity of communication between the two under 1 meter the situation, n is the path attenuation index, ξ σ is that standard deviation is the normal random variable of σ, n and ξ σ can record before the location by experiment, and the wireless signal strength RSSI (d) that only need record during the location when distance is for d between two robots can obtain apart from d according to above-mentioned computing formula.
3. the wireless location method of a confusion type multiple mobile robot wireless location system as claimed in claim 1 or 2, one of them position as can be known robot at position (x
2-1, y
2-1) locate to detect and record the positional information of self, then with self positional information (x
2-1, y
2-1) broadcast to all position unknown machine people i (i=3,4,5 ... and wait for a plurality of position unknown machine people i (i=3,4,5 N) ... N) feedback acknowledgment information; Position unknown machine people i receives after the broadcast message the position position (x of robot as can be known
2-1, y
2-1) note, 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 of extracting
2-1, y
2-1) between apart from d
2-1-i, send feedback acknowledgment information then to position robot as can be known; Receive all position unknown machine people i (i=3,4,5 ... N) after the feedback acknowledgment information, position robot as can be known begins 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 sensor such as GPS
2-2, y
2-2) information, then with self position (x
2-2, y
2-2) broadcast to all position unknown machine people i (i=3,4,5 ... and wait for a plurality of position unknown machine people's feedback acknowledgment information N); Position unknown machine people i (i=3,4,5 ... N) receive after the broadcast message the position position (x that robot is new as can be known
2-2, y
2-2) note, 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 of extracting
2-2, y
2-2) between apart from d
2-2-i, send feedback acknowledgment information then to position robot as can be known;
After receiving the feedback acknowledgment information of all multirobots, position robot as can be known begins 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 sensor such as GPS
2-3, y
2-3) information, and by calculate guaranteeing (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 rejudge top inequality and whether set up, guarantee inequality set up after with self position (x
2-3, y
2-3) broadcast to all position unknown machine people i (i=3,4,5 ... and wait for a plurality of position unknown machine people's feedback acknowledgment information N); A plurality of position unknown machine people i (i=3,4,5 ... N) receive after the broadcast message the position position (x that robot is new as can be known
2-3, y
2-3) note, and extract the signal strength information of radio communication, send feedback acknowledgment information then to position robot as can be known, and use above-mentioned distance-finding method to calculate self and position (x according to the signal intensity of extracting
2-3, y
2-3) between apart from d
2-3-i
When a plurality of position unknown machine people i (i=3,4,5 ... N) obtained himself position (x
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 apart from d
2-1-i, d
2-2-iAnd d
2-3-iThe back just can use trilateration to obtain the position coordinates x of himself
iAnd y
i:
So can disposablely obtain all position unknown machine people i (i=3 fast, 4,5 ... N) positional information, a plurality of unknown position robot is wirelessly sent to position robot as can be known with the positional information of oneself subsequently, position robot as can be known sends to Surveillance center with position unknown machine people's positional information, and Surveillance center can show positioning result.
4. the wireless location method of confusion type multiple mobile robot wireless location system as claimed in claim 3, position robot and position unknown machine people i (i=3 as can be known wherein, 4,5 ... N) all be among the dynamic motion, the position is robot detection positional information at any time as can be known, and periodically the broadcast of position information with oneself sends to all position unknown machine people i (i=3,4,5 ... N), and a plurality of position unknown machine people i (i=3,4,5 ... N) also be in the dynamic movement process of himself, they realize the definite of himself position receiving the static immobilization method of at least three positions above just using in the positional information of robot as can be known, thereby realize the location of self, a plurality of unknown position robot is wirelessly sent to position robot as can be known with the positional information of oneself, and position robot as can be known sends to Surveillance center with position unknown machine people's positional information, and Surveillance center can show positioning result.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310215027.8A CN103257353B (en) | 2013-05-30 | 2013-05-30 | Wireless locating method of mixed-type multiple-mobile-robot system |
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| CN103763042A (en) * | 2013-10-18 | 2014-04-30 | 江苏大学 | Experiment method and apparatus for studying mapping relation between signal strength indication and distance |
| CN105500336A (en) * | 2016-01-28 | 2016-04-20 | 吴光耀 | Control method of portable basketball robot |
| CN105500334A (en) * | 2016-01-28 | 2016-04-20 | 吴光耀 | Basketball robot system |
| CN105500335A (en) * | 2016-01-28 | 2016-04-20 | 吴光耀 | Basketball robot control method |
| CN113311831A (en) * | 2021-05-13 | 2021-08-27 | 南京邮电大学 | Multi-robot path conflict solution method based on wireless signal intensity change |
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| CN105538284B (en) * | 2016-01-28 | 2016-12-28 | 赵天驰 | A kind of portable basketball robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103763042A (en) * | 2013-10-18 | 2014-04-30 | 江苏大学 | Experiment method and apparatus for studying mapping relation between signal strength indication and distance |
| 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 |
| CN105500336A (en) * | 2016-01-28 | 2016-04-20 | 吴光耀 | Control method of portable basketball robot |
| CN105500334A (en) * | 2016-01-28 | 2016-04-20 | 吴光耀 | Basketball robot system |
| CN105500335A (en) * | 2016-01-28 | 2016-04-20 | 吴光耀 | Basketball robot control method |
| CN105500335B (en) * | 2016-01-28 | 2016-12-14 | 吴光耀 | Basketball robot 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 |
| 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 |
| CN113311831A (en) * | 2021-05-13 | 2021-08-27 | 南京邮电大学 | Multi-robot path conflict solution method based on wireless signal intensity change |
| 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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