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Motion Navigation and Fuzzy Control of Mobile Robots in Wireless Sensor Networks

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Abstract:

Due to the random delay of data transmission, unstable checking period and measurement error, wireless sensor network has raised many new problems for localization, navigation and control of mobile objects. A localization and navigation control method of mobile robots based on wireless sensor networks was proposed in this study and a simulation platform of wireless sensor networks was established to investigate the validation of different control methods on the navigation and control of mobile robots. By means of appropriate state estimator design based on Kalman filter and controller design based on fuzzy control, an efficacious navigation and control method for mobile robots tracking process were achieved. The results show that the designed state estimator and designed fuzzy controller are able to improve the localization and navigation precision of the mobile robots and to complete tracking and capturing function to the mobile objects.

Keywords: FUZZY CONTROL; LOCALIZATION; MOBILE ROBOT; NAVIGATION; WIRELESS SENSOR NETWORK

Document Type: Research Article

DOI: https://doi.org/10.1166/sl.2011.1558

Publication date: 2011-10-01

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