Mobile Robot Localization in Coal Mine Based on ZigBee
Aiming at the issue of precise location for the mobile robot underground coal mine, propose three-point calculation of close distance and Gaussian filter, use the classical logarithmic distance attenuation model as a platform, create a node backstepping a
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Abstract Aiming at the issue of precise location for the mobile robot underground coal mine, propose three-point calculation of close distance and Gaussian filter, use the classical logarithmic distance attenuation model as a platform, create a node backstepping algorithm model. The main research of the algorithm is as follows: how to determine the reference node which is the closest to the mobile node and the parameters the closest to the mobile node; how the reference node to deal with the RSSI information received from the other reference nodes can obtain the best A, n value used for positioning. Keywords Confined space • ZigBee • RSSI (Received Signal Strength Indicator) • Near distance three-point calculating method
1 Introduction The coal mining industry is a kind of production industry with quite harsh working conditions, whose main performance are that the production environment has unsafe factors, such as coal dust, gas, roof caving and so on, these unsafe factors threaten the safety of mine workers greatly. Mining process is generally more complex, this complex work is hard to be completed by using the automated machinery in general, it is the best solution that using the robot with some intelligence and considerable flexibility to complete coal mining. In practice, the mobile communication and accurate positioning of the mobile robot is a key problem. There are much technologies can solve the positioning of the mobile robot under the Q. Li (*) College of Computer Science and Technology, Henan Polytechnic University, Jiaozuo, China e-mail: [email protected] L. Wu China Water Power Press, Beijing, China W. Wang (ed.), Mechatronics and Automatic Control Systems, Lecture Notes in Electrical Engineering 237, DOI 10.1007/978-3-319-01273-5_45, © Springer International Publishing Switzerland 2014
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limited space in coal mine, for example, the positioning technology based on infrared, such as the Active Badge Location System studied by Olivetti [1], but due to the infrared requires straight line sight, its application is very limited in the complex environment of the coal mine; DC magnetic field positioning, the positioning results of such equipment are more accurate, but the equipment is quite expensive, and difficult to promote; the radio frequency identification technology is widely used now, which use the method of radio frequency to realize exchange data by non-contact type bidirectional communication in order to achieve the purpose of identification and location, but distance range of the technique is short; with the development of wireless mobile devices and wireless LAN, the positioning technology using a wireless network is developing constantly, such as Wi-Fi positioning [2], ZigBee positioning [3–5], they mainly adopt TOA (time of arrival) [6] method, AOA (angle of arrival) [7] method and the method based on signal strength (received signal strength indicator, RSSI) for positioning. The methods above, under conditions of the limited space in coal mine, due to the ZigBee technol
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