Research On Several Algorithms For MIMO Communication And Mobile Robot Control In Wireless Sensor Networks

Wireless sensor networks (WSN) combine sensor technology, wireless communication technology, distributed information processing technology and embedded computing technology, so that people can obtain large amounts of detailed and reliable information at any time, any place and any environmental conditions through data acquisition and processing of sensor nodes.Introducing the key technology of next generation mobile communication systems Multiple-input Multiple-output (MIMO) technology into WSN can make use of the diversity gain to overcome fading effects and make use of the multiplexing gain to improve the information transfer rate, thus to greatly improve energy-efficiency of the network. As MIMO-based WSN has become a new hotspot and mobile robot has the capabilities of being flexible and autonomous, introducing the robot technology into wireless sensor networks can easily change the topology of wireless sensor networks and improve the dynamic performance of the network, which has very broad prospects in civil, military and aerospace applications.In philosophical sense, communication and mobility are two important issues which constitute the world we live in. Aiming at wireless sensor networks, this paper boldly put forward two basic propositions, communications and mobility. A research has been made on related algorithms about the virtual MIMO communication and mobile robot control in wireless sensor networks. Its main contents are as follows:(1) Propose 4 novel efficient decoding algorithms for V-BLAST detection.An in-depth study has been made on decoding algorithms for V-BLAST detection in MIMO-based WSN. The decoding algorithm with high BER performance and low complexity for V-BLAST detection has great significance for energy-efficiency in WSN. Based on the study of basic V-BLAST detection, iterative V-BLAST detection and iterative QR detection,4 kinds of improved algorithms with low computational complexity are proposed. Simulation results show that the improved algorithm has achieved a good balance between detection performance and complexity(2) Propose a novel mobile robot & V-BLAST based cooperative MIMO transmission scheme in WSN.A study has been made on the mobile robot & V-BLAST based cooperative MIMO transmission technology in WSN. To effectively suppress multi-path fading in WSN is one key in WSN practicalization. MIMO-based WSN can use its diversity gain to overcome fading effects and can also use its multiplexing gain to increase the data transmission rate, thus to greatly improve the network's energy-efficiency and connectivity features, thereby, the network's life cycle can be prolonged.'After the study on the energy-efficiency strategies of WSN and cooperative MIMO transmission technology, mobile robot & V-BLAST based cooperative MIMO transmission scheme are proposed. According to different applications, mobile robots can act as the sink node or relay nodes to achieve V-BLAST based cooperative MIMO transmission. Mobile robot node can own multi-antenna or one antenna in this scheme. The energy consumption of each program is analyzed in this paper, and the proposed low-complexity maximum likelihood detection algorithm is used to decode the cooperative MIMO transmission. Simulation results show that the adoption of the program is effective and the low-complexity maximum likelihood detection algorithm further improve energy-efficiency.(3) Propose a novel chaos optimization method for mobile robot control.A study has been made on the control algorithm of the mobile robot system based on chaos optimization. The robot's mobility depends on its motion system, and the control algorithm is the key to the performance of motion control system. A PID controller is designed for mobile robot, and the parameters of the controller are optimized by chaos method. For inverted pendulum system, the complex controlled object in the field of robot control, a neural network control method on the basis of chaos optimization is proposed and real-time control of double inverted pendulum has been successfully achieved. Success of the experiment shows that the control algorithm is effective and can be applied to mobile robots to improve the performance of mobile robot motion control system and to further enhance the overall performance of mobile robot.