论文标题
通过使用粒子过滤器，基于Wi-Fi的移动机器人室内定位系统
Wi-Fi Based Indoor Positioning System For Mobile Robots By Using Particle Filter
论文作者
论文摘要
移动机器人具有自主实时工作的能力。自主行为严格取决于知道移动机器人的位置。移动机器人在室内区域的定位是仅使用一个传感器信息的艰巨任务。我们提出了一种系统和方法，通过通过粒子滤波器从WiFi和里程表数据的融合信号定位移动机器人。在这项研究中，粒子过滤器是一种众所周知的过滤器，用于移动机器人的室内定位。所提出的系统包括两个部分，包括RFKON系统和用于数据收集和实验的Evarobot。接收的信号强度（RSS）测量位于任何环境中的WiFi访问点，用于通过SIS粒子滤光片在一个楼层区域定位固定的移动机器人。使用RFKON数据库的RSS测量值，对于300和1000个粒子，平均位置误差分别为0.7606和0.1495 m。
Mobile robots have the capability to work in real-time autonomously. Autonomous behavior is strictly dependent on knowing the position of the mobile robot. The positioning of a mobile robot in an indoor area is a difficult task for only one sensor information is used. We proposed a system and method to locate the mobile robot via fusing signals from WIFI and odometer data via particle filter. In this study, the Particle filter is a well-known filter that is used for indoor positioning of mobile robots. The proposed system includes two parts that are RFKON system and evarobot for data collection and experiments. The Received Signal Strength (RSS) measurements of the WiFi access points that are located in any environment are used to locate a stationary mobile robot in one floor area via SIS Particle Filter. RSS measurements from the RFKON database are used and the average location error is 0.7606 and 0.1495 m for 300 and 1000 particles respectively.
