Mobile Robot Positioning Based on ZigBee Wireless Sensor Networks and Vision Sensor

摘要

A positioning method of the mobile robot based on the ZigBee wireless sensor networks and vision sensor was presented. Using the ZigBee positioning system, the rough absolute positioning could be obtained. The positioning system and positioning theory of ZigBee were described. In order to obtain the accurate positioning, the ceiling lights were chosen as landmarks and the vision sensor was used to recognize the landmarks. The positioning method using the ceiling light landmarks was proposed. The navigation map that contains the information about the position of every landmark and possible path in the navigational environment was established and the network matrix that expressed the navigation map was obtained. Then the control method of autonomous navigation was described. The positioning experiments based on the ZigBee and vision sensor for the mobile robot developed by our laboratory were conducted and experimental results showed the effectiveness of the positioning method.