太赫兹科学与电子信息学报Issue(1)：91-95,5.
基于无线传感器网络的移动机器人导航方法
Navigation method for mobile robot based on Wireless Sensor Networks
摘要
Abstract
A new navigation method for mobile robot based on WSNs, including whole network navigation path planning and local node approaching algorithms, is proposed to provide navigation path with minimal distance and lowest cost in location-free Wireless Sensor Networks(WSNs). The method constructs cost function by combining sensor data, and builds a pseudo-gradient potential field to plan the best path for mobile robot. Mobile robot approaches the nodes on the path individually by detecting Receiving Signal Strength Indicator(RSSI). Simulations show that the method can guide mobile robot to the target node rapidly according to its navigation requirements.关键词
伪梯度势场/代价函数/接收信号强度指示/导航算法/无线传感器网络Key words
pseudo-gradient potential field/cost function/Receiving Signal Strength Indicator/navigation algorithm/Wireless Sensor Networks分类
信息技术与安全科学引用本文复制引用
贾思强,高翔,陆起涌..基于无线传感器网络的移动机器人导航方法[J].太赫兹科学与电子信息学报,2013,(1):91-95,5.基金项目
国家高技术研究发展计划资助项目(2011AA100701) （2011AA100701）
