An algorithm for mobile robot path planning using wireless sensor networks

摘要

A robot navigation space model is created relative to the beacon node, the mobile robot state and navigation space are denoted by the RSSI potential fields, and the RSSI value is deemed to the controlled volume for the navigation system. The final control output of robot is calculated based on data fusion techniques. Navigation system consists of some beacon nodes, and each of them has its independent navigation target and can make the decision in favor of itself. The coordinate of beacon node is not required before navigation, and it allows for adaptation to dynamic or unknown scenarios. The experimental results confirm that the navigation system based on WSN successfully achieved their assigned tasks and accuracy of navigation is within 1m.