The aims of this paper realize an indoor location system on the navigation of the self-made omni-wheel robot, and use gyroscope to overcome the path deviation problem of travelling omni-wheel robot to make the moving path more accurate. This system includes two parts, the indoor location system algorithm and the control of omni-wheel robot. The gyroscope is adapted to detect the angular speed of vehicle in moving which causes by the external influence factor, using it to control the Omni-wheel robot moving in real time. At the same time, angular velocity integral is the offset from the direction and angle of deflection to control the robot. The result of the experiment using the embedded system-ARM7 is verified. The moving behavior of Omni-wheel robot can be corrected by the gyroscope that occur when vehicles go head deflection problem. The high accuracy positioning information is provided by the indoor wireless positioning system. It also reaches a large flexibility in the space in which automatic guidance within an acceptable range and the required accuracy of losing the position. In this research, one kind of efficient location system by using gyroscope to help the navigation of Omni-wheel robot is realized. And, this structure can make the moving path of Omni-wheel robot to achieve more accurately.
Multi-mode Convergence-based Indoor Wireless Positioning System Design
