Research Of Multiple Mobile Robots Control System Based On WSN

Network control system has been widely used in various fields. Due to the wirelesscommunication is introduced, the research of network control system becomes morechallenging, such as the existence of the network delay makes the system analysis andsynthesis become more difficult. More over if the network delay is big enough, the systemwould be instability. Combine the mobile robot control and wireless sensor network (WSN)tracking effectively can constitute a ‘multiple mobile robots system based on WSN’. As atypical example of network control system, the research of this system is very significant.This thesis mainly aims at the analysis, modeling and controller design for the wheeledmobile robot system based on WSN.Firstly, this thesis introduces the system architecture, key technologies and the platformimplementation of the real-time tracking of multiple targets based on WSN. The systemconsists of a set of distributed sensor nodes, base station and three wheeled mobile robots.Using the technologies such as the nodes scheduling strategy of adaptive cluster and negotiatebetween clusters, the EKF algorithm based on event driven and the distributed system ofresources time slot allocation based on task, this thesis realizes the real-time tracking ofmultiple targets based on WSN and the cooperative control of multiple mobile robots basedon the feedback of WSN.Then, under the non-network environment, this thesis analyzes the kinematics model ofthe two-wheeled mobile robot, designs a global asymptotic stable tracking control law, andthrough the simulation of the two-wheeled mobile robot tracks a straight trajectory, verifiesthe effectiveness of the controller.Finally, under the wireless network environment, this thesis discusses the basic problemsof the wireless network control system, analyzes the network delay characteristics of multiplemobile robots control system based on WSN. In order to ensure the system’s performance andstability, this thesis uses the predictive control to compensate the network delay. Through thesimulation of the mobile robot trajectory tracking, the result shows that the use of thepredictive control law based on the optimal time delay compensation is effective.