Research On Path Tracking For Mobile Robot Based On Wireless Sensor Network

Wireless sensor network is a remote sensing ground system, which consists of a large number of sensor nodes. It forms a network system through wireless communication, and collects required information using a variety of sensors. Then these information will be transmitted to control terminal after processing. WSN is a kind of integrated cutting-edge technology including embedded technology, sound and image detection technology, wireless communication technology and digital compression technology and so on. Mobile robot is a kind of integrated system, which has the function perception of the environment, dynamic decision-making and planning, and behavior control. Path tracking is a key task in Mobile robot navigation. Following the path designed in advance is the necessary prerequisite for mobile robot to complete other more complex,more high-end tasks. It is also the core technology for mobile robot to truly realize autonomous moving and intelligent.The main work that the author has done includes:(1) Home and abroad through wireless sensor networks and mobile robot path tracking method of research and analysis, wireless sensor networks based on the robot path tracking program, the use of signs on the path tracking method, the number of wireless sensor networks letter marked nodes (also called a fixed point) as the roadmap(2) Designed a microcontroller-based, ultrasonic and RF transceiver modules for indoor wireless sensor network platform. Used in this paper is two-phase stepper motor control of the two rear-wheel drive robot, a wheel from the front to balance(3) Proposed method of robot path tracking, and data in robot (also known as mobile nodes) and beacons for wireless communication between nodes agreement, and the core is designed to Atmega16 path tracking control system.(4) Analysis of the dynamics of wheeled robots to achieve incremental PID based on the angle correction formula and the road's path tracking control method.(5) Through a variety of stepping motor and the sub-driven research, designed 28BYJ-48 stepper motor drive circuit segment, the actual production of the circuit board, and the phenomenon during the experiment were analyzed.(6) Through the path tracking simulation to verify the validity of the path tracking method, and errors are analyzed...