Research On Data Transmission Of Mobile Robot Based On Wireless Sensor Networks

Mobile robots are widely used in industrial production scenarios such as warehouse logistics.In order to ensure the efficient and stable control of robots,real-time and reliable data transmission is essential.However,in complex environments with long distances,non-line-of-sight characteristic and dense obstacles,there are still difficulties for reliable and real-time transmission of data such as control commands and status information.Wireless sensor networks(WSN)is a network system that integrates perception,data processing,and wireless communication.It can realize real-time monitoring of the coverage areas,and can also transmit control messages and other information for nodes and users in the network.Therefore,this thesis studies the data transmission of mobile robots based on wireless sensor networks,realizing real-time and reliable data transmission between the control center and mobile robots through redundant forwarding and sleep scheduling of the sensor networks.An experimental system is built for verification.The main research contents are as follows:1)The related protocols of wireless sensor networks and the mobile data transmission are analyzed and compared.And the single-path data transmission of mobile robots based on WSNs is verified.2)In view of the high packet loss rate and the inevitable handover delay existing in the current mobile data transmission,a reliable data transmission algorithm based on redundant forwarding of sensor networks is studied.First,the shortest path tree is constructed based on broadcasting.Then,a redundant forwarding algorithm is proposed to establish a formal route and a preliminary route for the mobile robot at the same time,so as to realize efficient reliable forwarding from the control center to the mobile node.On this basis,a mobile handover mechanism is designed,which can ensure the data transmission stability when the mobile robot moves between nodes.3)For low duty cycle sensor networks which usually bring significant transmission delay,a data transmission algorithm of the mobile robot based on WSNs is proposed.First,redundant routes for the robot are constructed based on the shortest path tree.Then,for the low-duty-cycle working mode,a sleep scheduling mechanism is designed to guarantee a stable routing path between the mobile robot and the control center,which can reduce the transmission delay while prolonging the lifetime of the sensor networks,realizing real-time and reliable data transmission of the mobile robot.4)An experimental platform for data transmission based on a wireless sensor network is built to verify and analyze the performance of the data transmission from the control center to the mobile robot.The reliability of the data transmission of the mobile robot through the sensor network is demonstrated.