Research on Time Synchronization in Cluster Robots Based on Wireless Network

Wireless Sensor Network based on clustering robots are designed, clock synchronization principle of wireless network and typical time synchronigation algorithms are researched. The time synchronization algorithm based on send/receive proposed two-way synchronization mechanism and the flooding algorithm improve in combination with TPSN and FTSP algorithm; the key factors affecting the accuracy are analysis ;synchronization error between nodes are estimated ;the time synchronization errors for the whole network are estimated. The experimental results show the requirements of this clustering robots wireless network, time synchronization accuracy, scope and efficiency are meeted the cluster about the algorithm that are proposed in this paper in terms of time synchronization accuracy and energy consumption tradeoffs.