基于无线传感器网络的移动机器人智能导航算法

Appling Wireless Sensor Network to Intelligent Navigation for Mobile Robots

结合了无线传感器技术和群集智能技术两者的优势,提出一种新的基于无线传感器网络的移动机器人智能导航控制算法,并考虑了能量消耗的问题。算法利用基于多传感器信息融合的全局概率地图构建技术、使用群集仿生智能的基于微粒群算法的实时在线路径规划以及避障策略,提高了智能导航的整体性能,满足了在复杂环境和未知障碍物下导航的实时要求。最后设计并构造出了实际的无线传感器网络和实际的机器人系统,验证了算法成功实现机器人导航的有效性和准确性。

This paper proposes a novel navigation control algorithm for mobile robots utilizing the advantages of both wireless sensor network（WSN） and swarm intelligence（SI）. The algorithm uses sensor fusion for building probabilistic occupancy map, online real-time path planning under unknown environment based on particle swarm algorithm using bionic swarm intelligence, and obstacle avoidance strategies. The energy consumption and topology of the wireless sensor work is discussed. A practical implementation with real wireless sensor network and real mobile robots has been carried out to validate the enhanced efficiency and accuracy of the proposed algorithm.