WSN多节点决策信息融合在机器人自主导航中的应用  

Implementation of WSN Multi-Node Decision Information Fusion in Autonomous Navigation of Robot

作　　者：刘贞[1] 丁明理[1] 王祁[1] 

机构地区：[1]哈尔滨工业大学自动化测试与控制系,黑龙江哈尔滨150001

出　　处：《电子学报》2008年第12期2299-2305,共7页Acta Electronica Sinica

基　　金：黑龙江省自然科学基金(No.F2007-08)

摘　　要：将机器人作为无线传感器网络的(WSN)的移动节点,可实现节点动态自定义部署并扩大其监测范围.建立了接收信号强度(RSSI)势场量化的坐标系描述机器人状态及导航空间,有效避免将RSSI值转换为距离时带来的模型误差.由处于机器人可通信区域内的若干信标节点组成一个分布式导航网络,每个节点都会对机器人做出独立的导航决策,最后由决策控制中心融合各信标节点的输出决定机器人的航向.采用分布式处理技术,绝大部分导航信息数据处理都由信标节点完成,因此很大程度上简化了机器人的设计和硬件成本,仿真和现场实验都表明该系统的有效性.A robot is designed as the special mobile node of WSN. The design can realize the dynamic deployment of nodes and enlarge the monitoring range of WSN. The coordinate system, which denotes the mobile robot＇s state and navigation space, is set up based on the RSSI potential field. And it can decrease the model error while RSSI value is converted to distance. The distributed navigation system consists of some nodes which are in one hop communicating region of robot. Each beacon node can detect the distance which is quantized by RSSI value and calculate the control outputs. Then the fuzzy logic control centre will collect the control outputs from each beacon node and calculate the final outputs for mobile robot based on data fusion. Most of calculations are implemented by each static node, it carl effectively reduce the robot complicated design and the hardware cost. The effectively of the navigation system based on WSN are fully proved by the simulation and the experimental results.

关 键 词：无线传感器网络 移动机器人 自主导航 接收信号强度 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]