Research On Target Tracking For Multi Robot System Based On Wireless Sensor Network

Wireless Sensor Network becomes an interdisciplinary frontier research technology,including sensor technology,which integrates technology,MEMS technology and wireless communication technology.Target tracking is an important application in wireless sensor networks.With the development of intelligent robot technology,mobile robot is more and more widely used instead of human beings,when the tasks is complex or heavy or in poor working conditions.Multi robot system fufils the information interaction between multiple robots,and improves the ability of multi robot cooperation.It has been hot in the area of studying the combination of WSN and robot.In this paper,the subject of wireless communication and target tracking for multi-robots system is studied.Firstly,the paper compares several typical wireless communication technology and positioning technology,which comes to the ZigBee technology the feasibility and advantages.So this paper selects the technology to complete the function of data acquisition,wireless communication and target location and tracking.Secondly,by studying the latest research results of the ZigBee based positioning technology at home and abroad,this article adopts a dynamic factor coefficient to make the result more close to the actual situation of the environment,and the deficiency of the traditional weighted centroid localization algorithm is improved,which highlights the different weight in different distance between the mobile node and the reference node.Thirdly,according to the ZigBee network information transmission character,a transmission mechanism is proposed in the communication between the upper computer and the gateway node.In this paper,a wireless sensor network of multi-robots system is built to integrate the sensor information acquisition,transmission and target tracking.After the mobile node coordinate is calculated,the Kalman Filter is used to optimize the processing and improve the accuracy of target tracking.The test results show that the platform integrates sensor data collection,transmission and target tracking,the proposed localization algorithm reduces the positioning error in a certain extent.