Research On High-efficient Cooperative Localization Algorithm Combining Mobile Robot And WSN

In the field of mobile robot research,mobile robot localization is an indispensable basic prerequisite for completing various complex tasks.Mobile robots usually use GPS positioning in outdoor environment.However,in indoor,tunnel,mine and other environments,the GPS signal will be weakened or missing due to environmental occlusion.This phenomenon will make the positioning deviation of the mobile robot larger or even unable to complete the positioning.At the same time,we know that wireless sensor networks(WSN)deployed in specific areas have the function of relative ranging and positioning between sensor nodes,which can provide positioning services for mobile robots in the environment without GPS signals.Therefore,this paper combines WSN with mobile robot to study its energy-efficient collaborative localization.First of all,in the cooperative positioning of mobile robot and WSN,the received signal strength(RSSI)is vulnerable to environmental factors,which leads to the decline of mobile robot positioning accuracy.In this paper,the motion and observation models of the mobile robot are established,and the RSSI data received from the wireless sensor nodes are respectively brought into the Extended Kalman filter and the Cubature Kalman filter.The motion state of the mobile robot is filtered,fused,estimated and located to ensure the positioning accuracy of the mobile robot.Secondly,the problem of how to use energy efficiently in the localization process of mobile robots and WSN is addressed.This paper proposes a dynamic variance event triggering algorithm on the premise of ensuring the positioning accuracy.The algorithm determines whether the wireless sensor node sends the collected data by judging the dynamic variance of the data collected by the wireless sensor node in the current period.When the collected data does not meet the trigger conditions,data transmission will not be carried out,thus reducing the communication rate.Then,how to select and switch wireless sensor nodes for mobile robots in different environments is discussed.An environment adaptive event triggering algorithm is proposed to enable mobile robots to communicate with the corresponding number of wireless sensor nodes in the current environment according to the preset number within the WSN signal coverage area,and exchange location related data.Finally,the proposed algorithm is simulated by MATLAB software.The simulation results show that the WSN combined with the dynamic variance event triggering algorithm and the Extended Kalman filter can greatly reduce the number and frequency of communication of the system,and achieve the effect of reducing the energy consumption and communication burden of WSN,under the premise of acceptable positioning performance.The WSN,which combines environment adaptive event triggering algorithm and Cubature Kalman filter,and mobile robot cooperative localization,can adaptively select and switch wireless sensor nodes.It has good adaptability in different environmental conditions,and plays a role in reducing the complexity of the algorithm and the number of wireless sensor nodes triggered.Figure 30 Table 6 Reference 58...