基于ZigBee无线传感网的自寻径机器人系统研究

RESEARCH ON SELF-ROUTING ROBOT SYSTEM BASED ON ZIGBEE WIRELESS SENSOR NETWORK

针对自寻径机器人在各个领域中的广泛应用,对基于无线传感网的机器人自寻径系统作进一步研究具有重要的现实意义。本文设计了一种基于ZigBee无线传感网的自寻径机器人系统,系统采用FFD完整功能节点组成无线传感网,并在此硬件基础上采用改进的RSSI算法对机器人进行定位,同时采用蚁群算法对机器人的坐标参数进行处理,形成在无线传感网中传输的路由信号包,实现全范围内的路由搜寻,以此对机器人行动路径进行指引,从而实现机器人的自寻径。

For the important practical application of self-routing car, a further study on the self-routing car system based on WSN is meaningful. A kind of self-routing robot system based on ZigBee wireless sensor network is put forward in this dissertation, the WSN system consists of FFD complete function nodes. On the base of WSN system hardware, the improved RSSI algorithm is used to locate the robot. At the same time, using Ant colony algorithm to process robot coordinate parameters in PC to form routing signals, which transfers in the WSN system and search the routing in the whole WSN system to achieve robot self-routing.