Research Of Control Strategy For Mobile Nodes Formation Transformation Based On Wireless Sensor Network

With the rapid development of the mobile robotic and wireless sensor network,the tasks for robot also become more and more complicated, therefore, the coordina-tion control system of multiple mobile robots has became a hot research point, itassigns the tasks which belong to one robot to multiple robots so that lightens theload of a single robot and improves efficiency of the system. In this paper, theadvantages of multiple mobile robots and wireless sensor network were combined,with the communication platform of WSN, it achieves to keep and change theformation through coordinating the mobile nodes in the network, it is valuable inindustry, military, medical and other fields.In order to achieve the information exchange between the nodes, Firstly, thewireless sensor network is built based on Z-Stack.The characters of various ofwireless communication technologies are compared and the communica-tionprimitives in Zigbee protocol are introduced, the transplanting of Z-Stack protocol isresearched and the response and handling for tasks are analyzed; After studying theprinciple of building a network, the related parameters are set and the wirelesssensor network is built successfully.Secondly, the hardware platform for multiple mobile nodes is designed and thelocation for them is also achieved. The core processors of mobile nodes andreference nodes are introduced, the motor’s drive circuit and the magnetic signalacquisition circuit have been designed, which provide the hardware foundation forcoordination control of mobile nodes. After comparing the different ways of location,the receive signal strength indicator is selected to achieved the location in WSN, thelocation algorithm has been improved by location experiments and Z-Locationmonitoring, the location accuracy is increased.Finally, the improved Leader-Follower method has been designed, the forma-tion transformation experiment has been done after the verification by Matlab. Theimproved Leader-Follower is designed based on traditional one, this method adds astate feedback link to the followers, so the formation is maintained effectively andthe efficiency of system is improved; With the help of the double-loop controlers,thedeviation of formation is corrected, the stability of formation has been improvedgreatly. The reliability of the algorithm has been verified by simulation andexperiment, the target is in line with the expected requirements.