Positioning Technology Of Robot Formations Based On ZigBee Wireless Technology

With the development of wireless sensor networks, wireless technology was introduced into the field of robot control. A mobile robot is regarded as a mobile node in the network. The network, intelligence will be the future development inevitable trend. So the network, intelligence of the mobile robot perceptual system will be the important precondition.A mobile robot perceptual system was designed in this paper. We can get the robot’s position not only by the sensors but also by wireless location based on Received Signal Strength Indicator (RSSI). It can provide a test platform for the study on formation control and dynamic positioning of multiple mobile robots.This paper presents a optimization algorithm to improve the positioning accuracy of the nodes in wireless sensor networks, and introduces RSSI-based (Received Signal Strength Indicator) wireless location technology on formation of multiple mobile robots. First, the RSSI value, which is measured between mobile node and reference node, is optimized by Gaussian model. At the same time, using the classical method to calculate the positioning coordinates of each mobile node with the optimized RSSI values. Then, the position information and the RSSI values between each two mobile nodes are introduced to assist localization. A new optimization algorithm is proposed in this paper. Therefore, the location problem is transformed into a nonlinear optimization problem. The experimental results show that this method is valid to improve the positioning accuracy of mobile nodes. It provides a basis for the study on positioning of dynamic network and multi-robot formation control.