Beacon Localization Method Based on Flower Pollination-Fireworks Algorithm

Urban warfare environments are complex, highly concealed, and dangerous, particularly with the strong unknowns present in indoor environments. Utilizing mobile robots for searching inside buildings can significantly reduce casualties and yield significant military benefits. However, indoor environments lack support from the Global Positioning System (GPS), making it impossible for mobile robots to utilize GPS for positioning during mission execution. Achieving precise autonomous indoor localization for mobile robots has become a current hot topic of great concern. To address this issue, this paper proposes the use of Ultra Wide Band (UWB) beacons with Received Signal Strength Indication (RSSI) for achieving precise indoor localization. An RSSI-based localization method using the Flower Pollination-Fireworks Algorithm (FPFA) is introduced to solve the indoor positioning problem for mobile robots. Compared to traditional RSSI localization algorithms, the proposed algorithm effectively tackles factors such as signal attenuation and multipath effects, thereby enhancing the accuracy and stability of localization. Additionally, simulation experiments and error analysis were conducted on the algorithm, demonstrating its superiority in terms of accuracy and robustness.