Research on mobile robot perceptual system based on Zigbee

A mobile robot perceptual system is designed in this paper. We can get the robot´s position not only by sensors but also by wireless location based on the Received Signal Strength Indicator (RSSI). A test platform can be provided for the study on formation control and dynamic positioning of multiple mobile robots. In addition a method and algorithm of location problem is proposed. The location problem is transformed into a nonlinear optimization by the optimization algorithm proposed in this paper. The optimal design of parameters is processed by using the Broyden-Flether-GoldfarbShanno(BFGS) method of variable metric method, penalty function method and the line-search method. The calculating methods are implemented by program of MATLAB and Visual C++. The simulation results show that this method is correct and effective, which have high location accuracy, low computational complex, perfect stability and fast convergence speed.