Mobile localization in complex indoor environment based on ZigBee wireless network

摘要

Abstract An algorithm for mobile robot localization in complex indoor environment is introduced in this paper. The robot is designed as a special node of ZigBee network, so the robot localization is transformed into the location of ZigBee mobile node. For reducing error, the localization method adopts and improves the RSSI ranging technology. Further, the distance is corrected by the least square method, and the three sides’ measurement is used to calculate the coordinates of the robot. The experiments were carried out in two environments: narrow and complex laboratory, and spacious hall. The results show that the system can realize the function of data acquisition, transmission, processing and display. It can satisfy the localization requirement in indoor environment. Compared with the traditional algorithm, the maximum positioning error is reduced.