Mobile Robot Localization And Navigation System Research Based On Wireless Sensor Network

The project will study the introduction of mobile robotsfor wireless sensor networks, issues raised in the wireless sensor networkbased mobile robot localization and navigation technology, which is tobetter complement the existing navigation methods. In many workenvironments, some of the routine and dangerous tasks can beperformed automatically by the mobile robot, mobile robots can be usedto replace humans. Mobile robot in the study, the core technology is themobile robot positioning and navigation technology, to achieve fullyautonomous mobile robot technology is the key to positioning andnavigation technology. For example, the use of satellite navigationsystem is not convenient or should not be the case, this method can beused to replace the satellite navigation for mobile robot navigation andpositioning, and can use a variety of wireless sensor networks forenvironmental information, providing information support fornavigation.The main thesis research content and innovation are as follows:1. in order to move the robot positioning can be achieved, providelocation information for navigation and environment modeling, thispaper studied the wireless sensor network-based positioning methods,wireless sensor network node with CC2430/CC2431chipset. The resultsshow that the performance is very good positioning of the node, themobile robot navigation application needs can be met for this chipset.2. Mentioned in this paper the characteristics of wireless sensornetworks, in this paper combines the features, wireless sensor networksproposed based map building methods and environmental modeling,environmental information collected using wireless sensor networks,based on extended Kalman filter (EKF) for SLAM algorithm, in order toachieve accurate positioning and mapping. Simulation analysis showsthat the method used to establish an environment map-matching modelhas a high degree.