基于ZigBee的井下搜救机器人定位算法研究
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摘要
本文设计了一种基于ZigBee无线射频通信技术的井下搜救机器人自主定位系统,对一群移动搜救机器人进行协作定位。采用对机器人群进行分组的策略,使每次都有一个分组机器人固定不动,作为路标协助另一分组机器人进行定位。在这个定位系统中,每个搜救机器人都携带有FFD设备,采用点对点的通信方式组成多跳网状网拓扑结构。定位算法采用极大似然估计方法对RSSI测距数据进行定位处理,从而提高移动机器人的定位精度。为了降低机器人持续移动带来漂移误差的积累以及算法本身的绝对误差,进一步改进定位算法,在算法设计上提高定位精度。一种改进方法是对极大似然估计法进行加权处理,然后再融入质心定位算法;另一种是在极大似然估计法的基础上引入卡尔曼滤波,对误差进行过滤,从而提高定位精度。本系统也从硬件设备的角度出发来提高定位进度,加入地标系统来增加参考节点的密度,从而提高定位精度。
This paper designed a rescue robots self-location system based on ZigBee wireless communication technology. Divided all the rescue robots into two groups, every time there was one group robots hold still to help the others groups to locate. In this positioning system, every robot has a FFD device, construct a MESH network with peer to peer topology. The localization algorithm used MLE(Maximum Likelihood Estimation) method to deal with measured RSSI values, then achieves self-location of autonomous-mobile robots, helps people to make a valid and quick rescue scheme. In order to eliminate drift error which caused by robot’s alternating localization, here introduce two methods to improve the algorithm, one method is importing a weight matrix to maximum likelihood estimation method, and also import Centroid-algorithm; another method is introducing Kalman filter based on maximum likelihood estimation method, use KF to filter the error. The system also enhance the positioning precision from the perspective of hardware devices, by joining the Landmark to increase the density of reference-nodes in order to improve positioning accuracy.
This paper designed a rescue robots self-location system based on ZigBee wireless communication technology. Divided all the rescue robots into two groups, every time there was one group robots hold still to help the others groups to locate. In this positioning system, every robot has a FFD device, construct a MESH network with peer to peer topology. The localization algorithm used MLE(Maximum Likelihood Estimation) method to deal with measured RSSI values, then achieves self-location of autonomous-mobile robots, helps people to make a valid and quick rescue scheme. In order to eliminate drift error which caused by robot’s alternating localization, here introduce two methods to improve the algorithm, one method is importing a weight matrix to maximum likelihood estimation method, and also import Centroid-algorithm; another method is introducing Kalman filter based on maximum likelihood estimation method, use KF to filter the error. The system also enhance the positioning precision from the perspective of hardware devices, by joining the Landmark to increase the density of reference-nodes in order to improve positioning accuracy.
引文
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[11]杨庚.Zigbee无线传感器网络的研究与实现[D].浙江大学,2006
[12]张毅,罗元,郑太雄,等.移动机器人技术及其应用[M].北京:电子工业出版社,2007:139-165
[13]郭戈,胡征峰,董江辉.移动机器人导航与定位技术[J].微计算机信息,2003,19(8):10-12
[14]郑向阳,熊蓉,顾大强.移动机器人导航和定位技术[J].机电工程,2003,20(5):35-37
[15]王福豹,史龙,任丰原.无线传感器网络中的自定位系统和算法[J].软件学报,2005,16(5):857-868
[16]于宁,万江文,吴银锋.无线传感器网络定位算法研究[J].传感技术学报,2007,20(1):188-192
[17]高明,王春东,齐鸿飞.无线定位系统研究[J].天津理工大学学报,2006,22(5):50-52
[18]蒋挺,赵成林.紫蜂技术及其应用[M].北京:北京邮电大学出版社,2006:2-237
[19]李晓维,徐勇军,任丰原.无线传感器网络技术[M].北京:北京理工大学出版社,2007:191-217
[20]孙利民,李建中.无线传感器网络[M].北京:清华大学出版社,2005
[21]陈维克,李文锋,首珩,袁兵.基于RSSI的无线传感器网络加权质心定位算法[J].武汉理工大学学报,Vol.30,No.2,2006
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[23]李连,朱爱红.无线传感器网络中的定位技术研究[J].微计算机信息.2005, 21(9-1):133~135
[24]王建刚,王福豹,段渨军,李晶.无线传感器网络分布式节点定位算法研究[J].计算机应用.2005,25(11):2468~2471
[25]李文仲等.ZigBee2006无线网络与无线定位实战[M].2008
[26]吕治安.ZigBee网络原理与应用开发[M].2008
[27]徐勇军等.无线传感器网络实验教程[M].北京理工大学出版社,2007
[28]李晓维.无线传感器网络技术[M].北京理工大学出版社,2007
[29]宋文.无线传感器网络技术与应用[M].电子工业出版社,2007
[30]王殊等.无线传感器网络的理论及应用[M].北京航空航天大学出版社,2007
[31]周贤伟,覃伯平,徐福华.无线传感器网络与安全[M].北京,国防工业出版社,2007
[32]倪巍,王宗欣.基于接收信号强度测量的室内定位算法[J].复旦学报,2004, 43(1):72-76
[33]章坚武,张璐,应瑛,高锋.基于ZigBee的RSSI测距研究[J].传感技术学报,2009, 22(2):285-288
[34]刘晓文,王振华,王淑涵,周兴.基于ZigBee算法的矿井无线定位技术研究[J].煤矿机械,2009, 30(3):59-60
[35]任维政,徐连明,邓中亮,王川.基于RSSI的测距差分修正定位算法[J].传感技术学报,2008, 21(7):1247-1250
[36]方震,赵湛,郭鹏,张玉国.基于RSSI测距分析[J].传感技术学报,2007, 20(11):2526-2530
[37]周艳.基于RSSI测距的传感器网络定位算法研究[J].计算机科学,2009, 36(4):119-121
[38]李文峰,无线传感器网络与移动机器人控制[M],北京,科学出版社,2008.
[39] Terence Chung Hsin,Zheng Liu,Marcelo H.ANG and Winston Khoon Guan SEAH. Multi-robot Mobility Enhanced Hop-Count Based Localization in Ad-Hoc Networks. Robotics and Autonomous Systems,2007,55(3):244~252
[40] Niculescu D, Nath B, DV based positioning in ad-hoc networks. Journal of Telecommunication Systems,2003,22(1/4):267~280.
[41] Eric Colon, Hichem Sahli, Yvan Baudoin. CoRoBa, a multi mobile robot control and simulation framework. International Journal of Advanced Robotic Systems, 2006
[42] Niculescu D, Nath B, DV based positioning in ad-hoc networks. Journal of Telecommunication Systems,2003,22(1/4):267~280.
[43] Sichitiu M,Ramadurai V,Localization of wireless sensor networks with a mobile beacon , Proc. IEEE MASS, Fort Lauderdale,FL, IEEE Communications Society, 2004:174-183.
[44] Kushwaha, Molnar M, Sallai Ketal. Sensor node localization using mobile acoustic beacons. Proc. 2005 IEEE MASS, Washington DC, IEEE Communications Society, 2005:263-269.
[2]王忠民,刘军,窦智,等.矿难救援机器人的研究应用现状与开发[J].煤矿机械,2007,28(11):6-8
[3]王勇,朱华,王永胜,等.煤矿救灾机器人研究现状及需要重点解决的技术问题[J].煤矿机械,2007,28(4):107-109
[4]李允旺,葛世荣,朱华.煤矿救灾机器人应用探讨[J].煤矿机械,2009,30(1):164-167
[5]王忠民.灾难搜救机器人研究现状与发展趋势[J].现代电子技术,2007(17):152-155
[6]崔文韬,曹海.ZigBee无线定位技术应用[J].机械与电子,2008(26):85
[7]刘瑞霞,李春杰,郭强,等.基于ZigBee网状网的分簇路由协议[J].计算机工程,2009,35(3):161-163
[8]陶晓玲,黄延磊,王勇.ZigBee网状网技术探讨[J].广西师范学院学报,2006(1):12-14
[9]瞿雷.一种新的无线网络通信技术ZigBee[J].单片机与嵌入式系统应用,2006,19(8):10-12
[10]IEEEStd802.15.4TM-2003,TheInstituteofElectricalandElectronicsEngineers,Inc.NewYork,2003
[11]杨庚.Zigbee无线传感器网络的研究与实现[D].浙江大学,2006
[12]张毅,罗元,郑太雄,等.移动机器人技术及其应用[M].北京:电子工业出版社,2007:139-165
[13]郭戈,胡征峰,董江辉.移动机器人导航与定位技术[J].微计算机信息,2003,19(8):10-12
[14]郑向阳,熊蓉,顾大强.移动机器人导航和定位技术[J].机电工程,2003,20(5):35-37
[15]王福豹,史龙,任丰原.无线传感器网络中的自定位系统和算法[J].软件学报,2005,16(5):857-868
[16]于宁,万江文,吴银锋.无线传感器网络定位算法研究[J].传感技术学报,2007,20(1):188-192
[17]高明,王春东,齐鸿飞.无线定位系统研究[J].天津理工大学学报,2006,22(5):50-52
[18]蒋挺,赵成林.紫蜂技术及其应用[M].北京:北京邮电大学出版社,2006:2-237
[19]李晓维,徐勇军,任丰原.无线传感器网络技术[M].北京:北京理工大学出版社,2007:191-217
[20]孙利民,李建中.无线传感器网络[M].北京:清华大学出版社,2005
[21]陈维克,李文锋,首珩,袁兵.基于RSSI的无线传感器网络加权质心定位算法[J].武汉理工大学学报,Vol.30,No.2,2006
[22]任维政,徐连明,邓中亮,王川.基于RSSI的测距差分修正定位算法[J].传感技术学报,Vol.21,No7.2008
[23]李连,朱爱红.无线传感器网络中的定位技术研究[J].微计算机信息.2005, 21(9-1):133~135
[24]王建刚,王福豹,段渨军,李晶.无线传感器网络分布式节点定位算法研究[J].计算机应用.2005,25(11):2468~2471
[25]李文仲等.ZigBee2006无线网络与无线定位实战[M].2008
[26]吕治安.ZigBee网络原理与应用开发[M].2008
[27]徐勇军等.无线传感器网络实验教程[M].北京理工大学出版社,2007
[28]李晓维.无线传感器网络技术[M].北京理工大学出版社,2007
[29]宋文.无线传感器网络技术与应用[M].电子工业出版社,2007
[30]王殊等.无线传感器网络的理论及应用[M].北京航空航天大学出版社,2007
[31]周贤伟,覃伯平,徐福华.无线传感器网络与安全[M].北京,国防工业出版社,2007
[32]倪巍,王宗欣.基于接收信号强度测量的室内定位算法[J].复旦学报,2004, 43(1):72-76
[33]章坚武,张璐,应瑛,高锋.基于ZigBee的RSSI测距研究[J].传感技术学报,2009, 22(2):285-288
[34]刘晓文,王振华,王淑涵,周兴.基于ZigBee算法的矿井无线定位技术研究[J].煤矿机械,2009, 30(3):59-60
[35]任维政,徐连明,邓中亮,王川.基于RSSI的测距差分修正定位算法[J].传感技术学报,2008, 21(7):1247-1250
[36]方震,赵湛,郭鹏,张玉国.基于RSSI测距分析[J].传感技术学报,2007, 20(11):2526-2530
[37]周艳.基于RSSI测距的传感器网络定位算法研究[J].计算机科学,2009, 36(4):119-121
[38]李文峰,无线传感器网络与移动机器人控制[M],北京,科学出版社,2008.
[39] Terence Chung Hsin,Zheng Liu,Marcelo H.ANG and Winston Khoon Guan SEAH. Multi-robot Mobility Enhanced Hop-Count Based Localization in Ad-Hoc Networks. Robotics and Autonomous Systems,2007,55(3):244~252
[40] Niculescu D, Nath B, DV based positioning in ad-hoc networks. Journal of Telecommunication Systems,2003,22(1/4):267~280.
[41] Eric Colon, Hichem Sahli, Yvan Baudoin. CoRoBa, a multi mobile robot control and simulation framework. International Journal of Advanced Robotic Systems, 2006
[42] Niculescu D, Nath B, DV based positioning in ad-hoc networks. Journal of Telecommunication Systems,2003,22(1/4):267~280.
[43] Sichitiu M,Ramadurai V,Localization of wireless sensor networks with a mobile beacon , Proc. IEEE MASS, Fort Lauderdale,FL, IEEE Communications Society, 2004:174-183.
[44] Kushwaha, Molnar M, Sallai Ketal. Sensor node localization using mobile acoustic beacons. Proc. 2005 IEEE MASS, Washington DC, IEEE Communications Society, 2005:263-269.
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