A research for tracking of wheeled robot with Wireless Sensor Networks

An integrated navigation system of wheeled robot is proposed based on Wireless Sensor Networks and the traditional dead reckoning system, in order to realize complementary advantages between the relative measurement method and the absolute measurement method. Sigma Point Kalman filter algorithm is adopted for wheeled robots to track a given trajectory well. The extended Kalman filter (EKF) and Sigma Point Kalman filter (SPKF) are especially applied to simulate with the integrated navigation system in this paper. Simulation results show that SPKF performs well and the precision of the navigation system is improved.