Tracking and Positioning for Transporting Robot Based on Data Fusion in Wireless Sensor Network
In this paper,a position tracking and global positioning strategy for a small transporting robot that can work indoors is proposed for large production enterprises;Firstly,by analyzing the real-time positioning wireless technology of Nanotron technology,a wireless sensor network is designed based on IEEE 802.15.4a network protocol,which is suitable for small mobile transporting robots with open path navigation to provide real-time communication and routing functions;Then.extended Kalman filter and Monte Carlo particle filter are used to obtain the sensor network of data fusion,so as to realize the precise position tracking and global positioning of the transporting robot;Exper-imental results show that the proposed scheme can not only realize the real-time communication of multiple transporting robots in the complex indoor environment but also effectively control their precise position movement and global positioning.
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