Mobile Robot Locating and Tracking System Design Based on Wireless Sensor Network

摘要

A mobile robot location and navigation system is designed and implemented based on wireless sensor network, which estimates the distance between robot and beacon node by using the RSSI ( Signal Strength Indicator) between them. By using adaptive Kalman Filter algorithm, the mobile robot’s status information, which includes position, speed and acceleration, is available. In order to improve the real-time performance of system and reduce the computation overhead of robot CPU, some beacon nodes are chosen by certain rules to implement the locating program. The robot and beacon nodes use the CC2430 as the communication and data processing unit. Experiments show it has the advantages of high position precision, easy realization and low cost.