基于模糊控制的WSN移动节点自主导航算法  

Fuzzy logic autonomous navigation method for WSN mobile nodes

作　　者：刘贞[1] 王祁[1] 丁明理[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：《系统工程与电子技术》2009年第1期137-141,共5页Systems Engineering and Electronics

基　　金：国家自然科学基金(60572010);黑龙江省自然基金(F2007-08)资助课题

摘　　要：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 distributed fuzzy logic autonomous navigation method for wireless sensor network （WSN） mobile nodes is proposed. A smart mobile robot is designed as the mobile node of WSN, the coordinate space which is quantized by using RSSI value is used for describing robot＇s state and target position, and it can efficiently avoid the model error while RSSI is transformed into distance values. The navigation system is consists of some beacon nodes, and each of them is a distributed measurement and control unit. Then the fuzzy logic control centre collects the outputs from every beacon node and calculates the final outputs for the mobile robot based on da ta fusion. The experimental results confirm that the effectiveness of the navigation system.

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：TP39[自动化与计算机技术—计算机应用技术]