The Technology Of Robot Navigation Based On Wireless Sensor Network.

There is a place for wireless sensor network and mobile robot in the field of cutting-edge research in science and technology,and combining the two objects scientifically which will play a greater role is now a problem for the scholars.In the paper,I tried to combine the two successfully that mobile robot could navigate autonomously in the wireless sensor network(WSN).In the paper,it mainly studied the problem of dynamic environment modeling and mobile robot path planning.In WSN respect,it mainly studied the location algorithm for mobile robot navigation when they are moving.At the end of the paper,a simple but very intuitive experiment was finished to show mobile robot navigation in WSN.Generally speaking,my main works and contributions in the paper is as follow:(1)The paper proposed a new direct expression of environment modeling based on sonar ring.It established the environmental model by the data of ultrasonic sensors in different azimuths.The environment modeling is concise in description,and it's convenient to be analyzed and processed by the robot.Above all,it's satisfied with the requirements of real-time performance.(2)The paper proposed a new mobile robot path planning algorithm based on virtual spring modeling.With this algorithm,mobile robot avoids obstacles and adjust their speed adaptively by using the characteristics of spring.On the premise of security,it raises the speed of the mobile robot navigation.It's shortened 1% and11% of the navigation paths when mobile robot using virtual spring algorithm than using potential field method.(3)The paper proposed a method of mobile robot navigation based on WSN.For location algorithm,it introduced the problem of filtering,energy decay function,and other relative algorithm,and shows the implementation of these methods in experiment.It illustrated the validity and feasibility of the method by analyzing the data in mobile robot navigation.