Research On Mobile Robot Localization System Based On ZigBee Wireless Nrtwork

The Localization is a very basic issues in the field of Zig Bee network and mobile robot research. Under the environment of the Zig Bee network, treat the mobile robot as one of special Zig Bee network node, the mobile robot localization problem can be converted into the node localization in Zig Bee networks.At the same time,compare with ordinary nodes, the mobile robot nodes have stronger calculating and storage capacity, so that it can increase the speed of positioning positioning system and improve efficiency. The focus of this paper is the design and implementation of a low-cost, practical Zig Bee positioning system.Firstly, this paper describes the background and significance of this issue. With the the rapid development of Zigbee network and positioning technology today, It has important practical application significance to analyse and improve the algorithm of wireless sensor location based on Zig Bee technology.Secondly, it provides the overall system architecture solutions, including hardware design and software design. The evaluation criteria localization algorithm and several common localization algorithm are introduced. To analyze their positioning principle and point out their advantages and disadvantages. According to the needs, using and improving RSSI ranging technique, using a least squares method for distance correction, as well as the introduction of the centroid of Trilateration to estimate the coordinates of the mobile node.Thirdly, according to the hardware platform of system, the software of system is designed. Taking advantage of Qt graphical interface development tools to develop a simple, operating conveniently host computer location monitoring interface. The data transmission and reception process between various types of node is analyzed detailedly in positioning system and the software design of gateway node, the reference nodes and positioning node are completed. The data acquisition, transmission, processing and display are carried out.Finally, the test of the whole system is carried out. The results show that: the system meets the requirements of mobile robot localization.