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设计了一种利用无线传感器网络(WSN)节点间通信信号强度信息(RSSI)及网络拓扑结构实现移动节点自主导航的方法。将机器人作为WSN的移动节点,利用RSSI势场量化的坐标空间描述机器人状态及目标位置,有效避免将RSSI值转换为距离时带来的模型误差。由若干个信标节点组成一个基于模糊控制的分布式导航系统,每个信标节点都是一个独立的模糊控制单元,最后由决策控制中心综合各信标节点的输出量决定机器人的航向。仿真和现场实验都表明该方法的有效性。
A method of autonomous navigation of mobile nodes using a wireless sensor network (WSN) inter-node communication signal strength information (RSSI) and network topology is designed. Using the robot as the mobile node of WSN, the state space and the target position are described by using the coordinate space quantified by RSSI potential field, which can effectively avoid the model error caused when the RSSI value is converted into the distance. A number of beacon nodes form a distributed navigation system based on fuzzy control. Each beacon node is an independent fuzzy control unit. Finally, the decision control center integrates the output of each beacon node to determine the heading of the robot. Both simulation and field experiments show the effectiveness of this method.