Realization of Localization Analysis for Indoor Robots Based on Wireless Sensor Network

• Main Authors: Chen Yin-Hsi, 陳映希
• Other Authors: Jean Jong-Hann
• Format: Others
• Language: zh-TW
• Online Access: http://ndltd.ncl.edu.tw/handle/23870630420784867016

碩士 === 聖約翰科技大學 === 自動化及機電整合研究所 === 98 === In recent years, the wireless communication technology has rapid development and continuing improvement, especially in the field of Wireless Sensor Network applications using ZigBee. The Zigbee Networks has the advantage of low power, low cost, small size, easy deployment, and flexible network configurations. In this thesis, we try to apply the Wireless Sensor Network to localization of indoor robots, which has the potential to cope with emergent incidents. First, we build up the localization analysis of three kinds environmental space such as a complicated Lab, a long corridor, and a short corridor. By collecting in these three places, we create the received signal strength (RSS) data base.Then we apply three kinds of RSS-based algorithms , Location Fingerprint algorithm, Nearest Neighbor algorithm, and the Bayes Rule algorithm to localization of indoor robots. The localization of the three algorithms are compared.Finally, we emulate a robot moving along a path and use the three algorithms to localize the robot. The positioning errors along the path using the three algorithms we compared.