The Research Of Rescue Robots Locationing Algorithm Based On Zigbee

This paper designed a rescue robots self-location system based on ZigBee wireless communication technology. Divided all the rescue robots into two groups, every time there was one group robots hold still to help the others groups to locate. In this positioning system, every robot has a FFD device, construct a MESH network with peer to peer topology. The localization algorithm used MLE(Maximum Likelihood Estimation) method to deal with measured RSSI values, then achieves self-location of autonomous-mobile robots, helps people to make a valid and quick rescue scheme. In order to eliminate drift error which caused by robot's alternating localization, here introduce two methods to improve the algorithm, one method is importing a weight matrix to maximum likelihood estimation method, and also import Centroid-algorithm; another method is introducing Kalman filter based on maximum likelihood estimation method, use KF to filter the error. The system also enhance the positioning precision from the perspective of hardware devices, by joining the Landmark to increase the density of reference-nodes in order to improve positioning accuracy.