Research On Mobile Robot Perceptual System Based On Zigbee
A mobile robot perceptual system is designed in this paper.We can get the robots position not only by sensors but also by wireless location based on the Received Signal Strength Indicator (RSSI).A test platform can be provided for the study on formation control and dynamic positioning of multiple mobile robots.In addition a method and algorithm of location problem is proposed.The location problem is transformed into a nonlinear optimization by the optimization algorithm proposed in this paper.The optimal design of parameters is processed by using the Broyden-Flether-Goldfarb-Shanno(BFGS) method of variable metric method,penalty function method and the line-search method.The calculating methods are implemented by program of MATLAB and Visual C++.The simulation results show that this method is correct and effective,which have high location accuracy,low computational complex,perfect stability and fast convergence speed.
ZIGBEE Accelerometer Compass gyroscope CC2431 BFGS
Zhang Qingxin Di Qinglong XuGuangyan HuJingtao
School of Automation,Shenyang Aerospace University,Shenyang,China Shenyang Institute of Automation,C School of Automation,Shenyang Aerospace University,Shenyang,China Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang,China
国际会议
太原
英文
114-117
2011-02-26（万方平台首次上网日期，不代表论文的发表时间）