Research on robot indoor localization method based on wireless sensor network

摘要

This paper use RSSI wireless sensor network (WSN) to research robot indoor localization method. Location simulation analysis, which is processed by Matlab software, is used to adapt trilateration centroid localization algorithm (TCLA) and weighted centroid localization algorithm (WCLA). To verify the algorithm positioning accuracy and feasibility, location test system is built in the laboratory. The experiment results indicated that two algorithms both were simple and had high accuracy. They could meet requirement of motive robot or car indoor location. Compared with the two algorithms, TCLA had high location accuracy when reference points less than or equal three. But if reference points are more than three points, WCLA would have a better result. When reference points more than or equal eight, location precision error should be less than 0.0125 meter and location error less than 0.4%.