An Improved Quadrilateral Localization Algorithm of Robot Based on RSSI

Abstract

Based on the performance of received signal strength indicator( RSSI) and the principle of trilateration localization algorithm,an improved quadrilateral localization algorithm in robot localization is proposed. The improved algorithm,which introduced the idea of weighted centroid algorithm,affected the positioning accuracy through the control of each anchor node by the distance factor. What' s more,the distance between anchor nodes and signal intensity is taken as the reference of correcting RSSI. The simulation shows that not only the information drown can be effectively avoided,but also the positioning accuracy of robot localization can be improved without increasing the communication cost.