The Localization Algorithm Research On Mobile Robot Node Under The Wireless Sensor Network Environment

The Localization is a very basic issues in the field of wireless sensornetworks (WSN) and mobile robot research.Under the environment of thewireless sensor network,treat the mobile robot as one of special wirelesssensor network node, the mobile robot localization problem can beconverted into the node localization in wireless sensor networks.At thesame time,compare with ordinary nodes,the mobile robot nodes havestronger calculating and storage capacity, so that we can use a positioningalgorithm which calculation amount is bigger but more accurate.Thispaper proposes a wireless sensor network localization algorithm whichhas the ability of improving precision of mobile robot localization underthe environment of the wireless sensor network and at the same time itcan calculate the positioning of the path attenuation factor k during thelocation.This paper have discussed the network structure of wireless sensornetwork, characteristics and key technology,Through particular analyzeof the technology of mobile robot localization and node locationtechnology,for the purpose of improve the positioning precision ofmobile robot, this paper put forward an environment parametercalibration method at the beginning，then proposes a suitable localizationalgorithm is applied to mobile robot localization.In this paper, thesimulation experiment was carried on the Matlab software, the biggesterror and the average error was the weight index, for the proposed checkthe algorithm.The simulation results tell us that the node localizationalgorithm which under the wireless sensor network environment wassuitable for the mobile robot,the algorithm can reach a higher localizationaccuracy when the number of nodes was low, at the same time ofpositioning the mobile robot nodes, the path attenuation factor k also canbe calculated,make the next positioning more accurate.In order to verifythe validity of the algorithm,this paper compared the algorithm with theclassical maximum likelihood algorithm,and analyzed the degree of thepositioning precision when sorted optimization algorithm was adopted. Comparison results show that when the beacon node number is large, thealgorithm in this paper is superior to the classic algorithm.The proposed algorithm of this paper which is suitable for thewireless sensor network environment have two characteristics, the one isthat it is suitable for mobile robot accurate positioning,the other is that itcan be used to calculate the path attenuation factor k at the same time ofthe positioning progress.These two characteristics are good for increasethe adaptability of mobile robot in the field, which has importanttheoretical and practical significance.