Mobile robot localisation using ZigBee wireless sensor networks and a vision sensor

Abstract

This paper presents a positioning method for a mobile robot based on ZigBee wireless sensor networks and a vision sensor. First, ZigBee sensor networks are deployed to obtain a rough global localisation for the mobile robot. Then, a vision sensor is used to extract features of the landmarks to realise accurate positioning, in which the ceiling lights are chosen as landmarks. The navigation control method is proposed to guide the mobile robot. Finally, the positioning experiments are conducted based on our omni-directional mobile robot platform. The experimental results show that the proposed positioning method is effective.