Robust H∞ NLOS-Tolerant Localization Filter and NLOS-Tolerant Remote Reference Tracking Control of Mobile Robot in Wireless Sensor Networks

摘要

The need for accurate localization and robust reference tracking control of mobile robot using wireless sensor networks (WSNs) under the non-line-of-sight (NLOS) situations have been widely needed in diverse areas of industry. In order to overcome NLOS situations, a smoothing signal model is employed to embed bias signals due to NLOS in the dynamic system of the mobile robot to avoid the effect of NLOS on the positioning and remote control of the mobile robot using WSNs. In the study, a robust H∞ fuzzy localization filter is developed to efficiently estimate the mobile robot pose (position and orientation) and bias signals due to NLOS using the measurement of WSNs under NLOS situation, external disturbance and measurement noise. Further, a robust H∞ fuzzy NLOS-tolerant localization filter-based remote control design is also proposed for mobile robot system to track the desired trajectory for some purpose in the cluttered and noisy indoor environment in WSN. The robust H∞ NLOS-tolerant fuzzy localization filter-based tracking control design problems of mobile robot in WSN can be transformed to a corresponding linear matrix inequalities (LMIs)-constrained optimization problem, which could be easily solved with the LMI toolbox in Matlab. Finally, a simulation design example is provided to illustrate the design procedure and confirm the performance of the proposed methods for the localization estimation and reference tracking control of the mobile robot in WSN in comparison with the other method in an intelligent building.