Research on Path Tracking Control of Indoor Robot Based on RSSI

摘要

In order to solve the problems of low positioning efficiency and large positioning error in current robot positioning estimation, a robot positioning algorithm based on WiFi signal strength RSSI (Received Signal Strength Indication) was designed. Then EKF algorithm was used to fuse the reference node information and electronic compass information to estimate and correct the robot's position and pose, and to determine the optimal estimated position. MATLAB platform was used to carry out the robot's path tracking control simulation experiment. The results show that the proposed algorithm can realize robot positioning with high accuracy and follow the predetermined path quickly and effectively.