Reseach On Indoor Positioning For Educational Robots

With the rapid development of artificial intelligence,communication technology,network technology and electronic components,the research and development of educational robots with rich intelligent educational services based on the related technical achievements has become a hot research topic in the field of educational information technology.In many scenarios,educational robots must positioning themselves to provide intelligent education services.When the educational robot is outdoors,it can be positioned using the services provided by the Global Navigation Satellite Positioning System(GNSS).However,there is currently no mature solution for the indoor positioning of educational robots.Indoor positioning has become a difficult research problem due to the unfavorable factors such as the complex structure of buildings,indoor moving objects and signal interference.Many research institutes,universities,and enterprises have invested in resource research indoor positioning and application in educational robots.Indoor positioning for educational robots requires positioning himself in a complex indoor environment so that it can provide a variety of intelligent services.Since educational robots need to be positioned in complex indoor scenes,a single indoor positioning technology can not meet such positioning service needs well,and it is necessary to select a comprehensive method of multiple positioning technologies.With the popularity of WiFi applications,most of the indoor environments using educational robots have WiFi signals.On the other hand,RFID technology has also been promoted due to the widespread use of the Internet of Things.On the premise of considering cost,adaptability and application promotion,this research combines WiFi and RFID technology to develop an effective indoor positioning solution for educational robot,which combines the coarse and fine fingerprints,and combines WiFi and RFID wireless fingerprint positioning technology.In order to better locate the educational robots for indoor activities,this paper proposes an effective wireless network signal source spatial structure,which combines WiFi and RFID wireless fingerprint positioning technology through the combination of the coarse and fine fingerprints.This paper also proposes a routing decision algorithm based on RSS energy potential field navigation,which realizes the positioning application of educational robots in indoor scenes.The main innovations and contributions of this paper are as follows:(1)This paper proposes that a heterogeneous wireless network layout deals with the large-area rough navigation and small-area accurate navigation.In the large area covered by WiFi,the wireless access point(AP)is laid out by using a triangular structure.In the small area covered by RFID system,a new electronic tag(Tag)scheme is proposed,which is composed of regular hexagon,regular quadrangle and central point.The layout of ground labels adopts the combination of coarse and fine fingerprints,and the fingerprint interval can be adjusted according to different positioning accuracy.(2)The collected RSS data have their own characteristics in different areas,and can not be directly used for the positioning of educational robots.This paper proposes an effective data superposition processing method.Firstly,the independent AP of each sampling point is superimposed and smoothed to obtain the relatively optimized RSS mean at each sampling point.Secondly,the RSS signal is averaged and smoothed at each sampling point covered by the AP in other areas,and the RSS signals of different APs are superimposed and averaged and smoothed in different positioning areas to obtain the distribution characteristics of the RSS data in different regions.Finally,joint positioning is performed according to the RSS average data of the different AP.(3)This paper proposes a routing decision algorithm based on RSS energy potential field navigation by using electronic label layout,which realizes the autonomous navigation of educational robot to the specified service location.(4)The indoor positioning method proposed in this paper has been successfully applied to the three educational robots developed by the team.It plays the key role in forming their ability of autonomous obstacle avoidance,ranging and path planning.