基于室内WSN的移动机器人路径跟踪

Path tracking for mobile robot in indoor WSN

以实验室研制的轮式自主移动机器人为平台,研究了基于室内无线传感器网络(WSN)的移动机器人路径跟踪问题.设计了以LPC2132微处理器控制为主、PIC系列单片机控制为辅的移动机器人分级控制系统,构建了一个基于Micaz模块和TinyOS组件程序的室内WSN实验平台,提出并实现了基于非线性改进型比例、积分及微分(PID)控制与航向跟踪控制策略的移动机器人路径跟踪控制.对设计的移动机器人系统进行了有效的路径跟踪实验,利用Matlab对实验数据进行了仿真,验证了其可行性和可操作性,为进一步实验提供了坚实的理论基础.

With the platform of wheeled autunomous mobile robot,this paper studies the path tracking problem based on indoor wireless sensor networks(WSN).This paper designs and implements a robot control system which has two layers with LPC2132 of ARM7 family microprocessor as main and the PIC family singlechip as assistant,and builds a WSN platform based on the Micaz module and TinyOS procedures.The path tracking control of robot based on nonlinear improved proportion-integral-derivative(PID) control strategy and he...