张铮, 李振波, 胡寿伟, 王维, 陈佳品. 混合传感器网络中的移动机器人导航方法[J]. 机器人, 2014, 36(3): 316-321. DOI: 10.3724/SP.J.1218.2014.00316
引用本文: 张铮, 李振波, 胡寿伟, 王维, 陈佳品. 混合传感器网络中的移动机器人导航方法[J]. 机器人, 2014, 36(3): 316-321. DOI: 10.3724/SP.J.1218.2014.00316
ZHANG Zheng, LI Zhenbo, HU Shouwei, WANG Wei, CHEN Jiapin. Navigation of Mobile Robots in Hybrid Sensor Network[J]. ROBOT, 2014, 36(3): 316-321. DOI: 10.3724/SP.J.1218.2014.00316
Citation: ZHANG Zheng, LI Zhenbo, HU Shouwei, WANG Wei, CHEN Jiapin. Navigation of Mobile Robots in Hybrid Sensor Network[J]. ROBOT, 2014, 36(3): 316-321. DOI: 10.3724/SP.J.1218.2014.00316

混合传感器网络中的移动机器人导航方法

Navigation of Mobile Robots in Hybrid Sensor Network

  • 摘要: 混合传感器网络主要由静态和动态传感器节点组成,动态节点即安装无线传感模块的移动机器人.本文提出了一种新颖的基于迭代最大后验估计的导航方法,移动机器人仅仅利用接收信号强度(RSSI)和里程计信息,就能实现在传感区域内的自主导航.而且,静态节点在传感区域内随机部署,并不需要先验的位置信息.因此,该方法具有低成本、易于部署等优势.仿真和室外现场实验结果都显示了该方法的性能和有效性.

     

    Abstract: In a hybrid sensor network consisting of static nodes and mobile nodes, the mobile nodes are mobile robots equipped with wireless sensor modules. In this paper, a novel navigation method based on iterative maximum a posteriori estimation is proposed to enable the mobile nodes to navigate only using the received signal strength indication (RSSI) and odometry in hybrid sensor network without a prior location information about the randomly deployed static nodes. Therefore, our scheme has advantages of cost-effectiveness and easy deployment. The simulations and experiments show the performance and validity of the proposed scheme for navigation of mobile robots in outdoor field.

     

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