Abstract: Outdoor localization in the traditional swarm robots mainly depends on a single GPS. But the accuracy is low, and it’s easily affected by obstacles in the cities and complex countryside environments, which makes it impossible to get accurate position. Based on the DGPS technology and RSSI wireless location technology, a combined localization system is presented. The AVR microcontroller and XBee communication network is employed in the control platform. Experiments and simulations demonstrate that the positioning accuracy is greatly improved, the blind spots are eliminated, and the more exact location can also be obtained in the complex environment. Furthermore, it is of low power consumption, low cost, and high stability.

Key words: swarm robots, Global Positioning System（GPS）, Xbee, combined localization systems

摘要： 传统群机器人的室外定位主要依靠单一的GPS定位，精度较低，且在城市及野外复杂环境下容易受到障碍物的影响，导致其无法获得准确位置。利用差分GPS定位技术和RSSI无线定位技术组建了一种基于AVR单片机的控制平台，XBee为通讯网络的组合定位系统，显著提高了定位精度，消除了定位盲点，在复杂环境下也能得到较为准确的位置，且具有低功耗，低成本，高稳定性的特点，并在实验和仿真中得到了验证。

关键词: 群机器人, 全球定位系统（GPS）定位, XBee, 组合定位