Implementation About Multiple Sensor Fusion Of Robot Control Based On The Ch Platform

In the field of mobile robot, robot positioning is very important for accurately to reachthe destination.Because of the drawbacks of the traditional localization technology, this articleuses the way about technology integration in order to achieve accurate positioning for mobilerobot, this article makes wireless sensor network technology and mobile robot technology toeffectively combine,and provides a new,effective attempt for mobile robot localizationresearch.This paper firstly introduces the basic concept of WSN, network structure, characteristics,application field and research direction;and then summarizes the mechanism of the nodepositioning,and makes a comparison about several common node positioning method basedon the Range-Based and Range-Free;the experiment selects the TDOA method based on timedifference of arrival, location node emits a RF signal and ultrasonic signal at the same timeperiodically,can obtain distance based on time difference of unknown node;based on theanalysis about the existing error of TDOA, the article puts forward an improved localizationalgorithm;then introduces the theory of the stereo vision, the environment map building andpath planning;and then introduces the software development platform Ch; article makes adetailed introduction to hardware and the installation process about mobile node, satellitenode and binocular stereo vision in the wireless sensor network positioning systems; finally,article makes experiments for functions of mobile node and path planning joint stereobinocular lenses, And then verifies multiple sensor fusion of the robot control validity basedon Ch platform.