The Research Of Path Tracing For Mobile Robot In Indoor Wireless Sensor Networks

Wireless Sensor Networks(WSN)is ad-hoc wireless network composed of large number of sensor nodes with the ability of apperceiving,computing and communicating.By the mutual cooperation of large number of sensor nodes,sensor network can sense,monitor and gather the information of a given object or environment.Mobile Robot is an important branch in the field of robot technology, which refers to computer science,automation,mechanism,electronic science.With the platform of wheeled mobile robot,this paper mainly studies the path tracking problem based on the Wireless Sensor Networks.The mobile node,made up of the Mobile Robot and wireless sensor network nodes,togther with other sensor nodes,can set up an indoor wireless sensor network platform for wireless data transmission and position calibration of mobile nodes.Using the platform,user can realize the path giving,the path tracking results display and the indoor environment detecting,Mobile Robot can receive path information and send real-time status information to the PC platform.Using sensor system and speed measurement module, the Mobile Robot can obtain the local environment information.The Mobile Robot analyses its own state and environment with the local environment information and path information,then gets the motion control strategies to achieve path tracking.Firstly,the research status of WSN and mobile robot at home and abroad is described in detail.According to the needs of path tracking control for wheeled mobile robot,this paper designs and implements a robot control system which has two layers with LPC2132(ARM7)as main and PIC-MCU as assistant,and builds a WSN platform based on the Micaz module and TinyOS.Secondly,the dynamics problem of wheeled mobile robot is analyzed in detail. The path tracking control of robot based on nonlinear control strategy and heading angle tracking is proposed and realized,with simulation study of the nonlinear PID control.Using MATLAB GUI,this paper designs a PC platform for the study of path tracking,and proposes a positioning method for mobile robot node based on the robot state information(L,θ).Finally,using the mobile robot system,some experiments of path tracking are carried out to test and analysis of the control strategy presented in this paper...