Hybrid Positioning Research For Indoor Wheeled Service Robots

With the development of technology, there is a growing hope that the increasingly intelligent mobile robots can replace the manual to complete some boring work, reduce the physical strength. Mobile service robot's navigation is very important, one of the key technologies for mobile service robots is reliable, high-precision positioning technology. At present, to meet the positioning accuracy of indoor mobile service robot need to spend universal high costs. In order to solve the contradiction between indoor positioning accuracy and implementation costs,aimed the indoor wheeled service robots'application. On the basis of studying a variety of indoor positioning methods, this paper selected ZigBee technology, whose device cost is low and implement is easy and interactive with dead reckoning for compound positioning research.First of all, the paper studies the mechanism of the wheeled service robots and their different mathematical modeling and analysis. As the differential drove robots's widely used, the bodies of dead reckoning has significient importance. on the basis of studying numerical integration projections, presented subparagraph arc fitting method of the actual trajectory, makes the same speed under the sampling data, obtained higher accurate projection trajectory.What's more ,for the problem that ZigBee localization's accuracy is low while dead reckoning error is accumulating, the paper presents a method named similar trajectory calibration.After studying the paper presented similar trajectory correction algorithm. The algorithm makes use of dead reckoning's high Precision in the short distance to make up the inadequate positioning accuracy of ZigBee and meanwhile take advantage of ZigBee localization to reduce the accumulated error of dead reckoning. Simulation results show that similar trajectory calibration method can effectively suppresses ZigBee location's Gaussian white noise error and random disturbance error,and eliminating the cumulative error of dead reckoning, makes this two positioning methods to achieve complementary advantages.Finally, the paper gives an application of similar trajectory calibration into smart nursing wheel-chair, which including the positioning system hardware and software design and test methods, test results confirmed that the algorithm can obviously improve the positioning accuracy, have good practical value and application prospect.