基于无线传感器网络的移动节点队形变换控制分析-analysis of mobile node formation transformation control based on wireless sensor network.docxVIP

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基于无线传感器网络的移动节点队形变换控制分析-analysis of mobile node formation transformation control based on wireless sensor network.docx

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基于无线传感器网络的移动节点队形变换控制分析-analysis of mobile node formation transformation control based on wireless sensor network

AbstractWiththerapiddevelopmentofthemobileroboticandwirelesssensornetwork,thetasksforrobotalsobecomemoreandmorecomplicated,therefore,thecoordina-tioncontrolsystemofmultiplemobilerobotshasbecameahotresearchpoint,itassignsthetaskswhichbelongtoonerobottomultiplerobotssothatlightenstheloadofasinglerobotandimprovesefficiencyofthesystem.Inthispaper,theadvantagesofmultiplemobilerobotsandwirelesssensornetworkwerecombined,withthecommunicationplatformofWSN,itachievestokeepandchangetheformationthroughcoordinatingthemobilenodesinthenetwork,itisvaluableinindustry,military,medicalandotherfields.Inordertoachievetheinformationexchangebetweenthenodes,Firstly,thewirelesssensornetworkisbuiltbasedonZ-Stack.Thecharactersofvariousofwirelesscommunicationtechnologiesarecomparedandthecommunica-tionprimitivesinZigbeeprotocolareintroduced,thetransplantingofZ-Stackprotocolisresearchedandtheresponseandhandlingfortasksareanalyzed;Afterstudyingtheprincipleofbuildinganetwork,therelatedparametersaresetandthewirelesssensornetworkisbuiltsuccessfully.Secondly,thehardwareplatformformultiplemobilenodesisdesignedandthelocationforthemisalsoachieved.Thecoreprocessorsofmobilenodesandreferencenodesareintroduced,themotor’sdrivecircuitandthemagneticsignalacquisitioncircuithavebeendesigned,whichprovidethehardwarefoundationforcoordinationcontrolofmobilenodes.Aftercomparingthedifferentwaysoflocation,thereceivesignalstrengthindicatorisselectedtoachievedthelocationinWSN,thelocationalgorithmhasbeenimprovedbylocationexperimentsandZ-Locationmonitoring,thelocationaccuracyisincreased.Finally,theimprovedLeader-Followermethodhasbeendesigned,theforma-tiontransformationexperimenthasbeendoneaftertheverificationbyMatlab.TheimprovedLeader-Followerisdesignedbasedontraditionalone,thismethodaddsastatefeedbacklinktothefollowers,sotheformationismaintainedeffectivelyandtheefficiencyofsystemisimproved;Withthehelpofthedouble-loopcontrolers,thedeviationofformationiscorrected,thestabilityofformationhasbeenimprovedgreatly.Thereliabilityo