Navigation for Indoor Mobile Robot Based on Wireless Sensor Network

摘要

A practical system is proposed to solve the navigation problem for indoor mobile robot based on wireless sensor network (WSN). The discrete data acquired by WSN is processed to form a three-dimensional global topographic map, which is then converted into a 0-1 grid map through binarization. The grids where obstacles locate are expanded according to specific criteria to construct the robot route network. Then, the route-network-grid map is converted to directional weighted graph, with which the D*Lite algorithm can be used to solve the problem of shortest path between two fixed nodes and acquire the optimal node set to construct the optimal path. Simulation result shows that the indoor environment can be well expressed by the proposed modeling method, from which we can accomplish the navigation to lead the mobile robot arrive to destination with the shortest distance in a dynamic environment.