Collaboration Platform For Multiple Mobile Robots Based On Wsn Environment

With the development of microelectronic, micro electromechanical systems, system onchip, wireless communication technology, low power embedded technology, informationprocessing and computer network technology, the research of the robotics technology andthe sensor technology have get striking achievements. On the one hand, compared with thesingle robot, multi robot system that composed of multiple robots has an advantage onsolving complex tasks, which is distributed in time, space and function. Multi robot systemhas an outstanding performance especially in the parallelity, fault-tolerance capability andhigh-efficient quality.On the other hand, the WSN consists of a large number of cheapmicro sensor nodes, which deployed in the monitoring area. With its low power, low cost,distributed and self-organization characteristics, the WSN has brought a revolution to theinformation perception and acquisition. Because of the advantages and characteristics ofWSN and multi robot system respectively, in this paper，we combine the two technologiesto form a multiple mobile robots cooperation platform based on WSN environment.Firstly, analyzing the demand of mobile robot system and its control platform whichbased on WSN environment.Designing a framework which has three components, that isWSN, the multi robot system and multi application platform. At the same time, the designof data format and instruction format for mutual communication between each part hasbeen given.Secondly, this paper abstracted WSN environmental model, the model take the Zigbeenetwork as the terminal sensor data acquisition network, take the WiFi network as the datacommunication network between the WSN module. At the same time, designing WiFinetwork nodes which include the interface of node, the circuit diagram of node, the PCBgraph of node; Giving the data communication protocol of Zigbee network and it’shardware and software design.Thirdly, this paper designed the framework of the mobile robot, and proposed athought that use the Bluetooth as the internal communication method. Dividing the mobilerobot system into two parts, that is Android mobile platform and motion control platform.For Android mobile platform, this paper given the flow chart of the program; For motioncontrol platform, giving the kernel design and the overall design of the motion platform.Finally, this paper designed the control platform based on multi application.Controlterminal based on Android system, aiming at applied the whole system to mobile customers;Control platform based on LabVIEW, providing visualization data service for remote server;Control platform based on C/S architecture is designed to provide a channel, which ensurethe remote users can interact with multiple mobile robot.