Mobile Robot Control Based On ZigBee Wireless Sensor Network

A mobile robot control system, based on the technology of ZigBee wireless sensor network and distributed control strategy, is designed for providing a resolution to the limitations of low-speed computation and poor load of large volume device.The method of ZigBee wireless sensor network (WSN) topological networking and node localization is researched with systematical analysis for system controlling requisitions and feasibility. The motion control strategies of mobile robot are carefully studied, and the track differential motion control system is designed accorded with the functional requirements. The mobile robot navigation and artificial potential field (APF) methods is prudently researched. Meanwhile, a novel navigation strategy for mobile robot is designed associated with WSN and APF; furthermore, the improvement of the traditional APF limits is made based on the communication principles of WSN. A function of obstacle avoidance is fulfilled which can be initialized in the unknown environment. And the major tasks are listed as follows:The robotic hardware platform and the ZigBee network sensor modules are designed and built; and the ZigBee controlling network and real-time localization with Z-Location Engine are coded and debugged. With MATLAB GUI, the simulations for robotic trajectory planning and group anti-collision control are successfully operated.The mobile robotic control system based on ZigBee WSN,which is run in the environment of less obstacles and high nodes redundant, is successfully tested and proved.