| Multi-robot system is a very valuable research areas. To realize the communication of multi-robot can greatly improve the coordination of the robots. This paper combines the multi-robot system and wireless sensor network. It builds a wireless sensor network communication platform for multi-robot system. In this paper, the positioning and communication of the multi-robot are studied. The improved method for locating algorithm is presented. This paper also puts forward a solution to problem of information congestion and high packet loss rate on communication.The main contents of this paper and innovations:First, the multi-robot system is combined with wireless sensor network phase, providing a method for robot localization in the case of GPS cannot be used. On the other hand, it makes the robot communication more convenient.Second, the robot location method is a weighted centroid localization algorithm based on RSSI. Aiming at the shortcomings of the weighted centroid algorithm, this paper optimized the weighting factor of the formula. It emphasizes the ideas that different distance of unknown nodes from anchor point has different effects on the localization of the unknown nodes.Third, the communication of multi-robot system is frequent, and the information is very large. Packet loss rate is very high. To solve this problem, this paper studied communication protocol of Z-stack MAC layer of Zigbee, and distributes and sets the minimum contention window value reasonably to give the nodes that have a large amount of tasks more opportunities to seize the communication channel. At the same time, it combines the information in the router’s application layer to reduce the number of transmission times and solve the problem of communication obstruction.Fourth,the basic function of multi-robot wireless communication platform is studied and programming. Adopt the improved methods to calculate the algorithm of positioning error and packet loss rate on this platform. |
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