| 一种基于WSN的机器人三维精确定位算法 |
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| 引用本文： | 郭龙,熊伟,李牧东.一种基于WSN的机器人三维精确定位算法[J].无线电工程,2012,42(8):5-7. |
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| 作者姓名： | 郭龙 熊伟 李牧东 |
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| 作者单位： | 空军工程大学电讯工程学院,陕西西安,710077 |
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| 摘 要： | 对无线传感器定位方法进行了研究,针对机器人在恶劣环境下定位问题,提出了一种利用无线传感器网络(Wireless Sensor Network,WSN)技术对机器人精确定位的方法,构建了一种新的机器人定位模型来求取机器人的坐标和姿态。利用到达时间差(TDOA)技术测量锚节点到盲节点的距离,利用最大似然方法对机器人体内安装的固定传感器未知节点精确定位,进而对机器人的工作区域以及移动方向进行精确定位。根据实验数据进行的仿真计算证明了算法的有效性。
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| 关 键 词： | 机器人 无线传感器网络 定位 到达时间差 最大似然 |
A Method of Robot High-accuracy Localization Based on WSNs |
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| GUO Long,XIONG Wei,LI Mu-dong.A Method of Robot High-accuracy Localization Based on WSNs[J].Radio Engineering of China,2012,42(8):5-7. |
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| Authors: | GUO Long XIONG Wei LI Mu-dong |
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| Institution: | (Institute of Telecommunication Engineering, PLA Air Force Engineering University, Xi＇an Shaanxi 710077, China) |
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| Abstract: | In this paper, the localization method of wireless sensor network is discussed. Aiming at the issue of robot localization in severe environment, A method of robot localization based on wireless technology is proposed and a new model of robot localization is established to calculate the coordinates and gesture of the robot. Firstly, the time-difference-of-arrival （TDOA） algorithm is used to calculate the distance between the anchor node and the blind node, and then the coordinates of blind node will be computed by using maximum likelihood estimation （MLE） method, and the workplace and the move direction of robot will be positioned accurately. The simulation results proves the validity of this method. |
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| Keywords: | robot wireless sensor network localization time-difference-of-arrival maximum likelihood estimation |
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