ZigBee profile specification for mobile robotics

This paper presents the specification of a ZigBee profile for mobile robotics, highlighting the main sensors and actuators required for the development of the activities of such systems, and existing relationships with the clusters defined in the ZigBee cluster library. The specification is performed using a standard graphical language commonly used in industrial systems modeling - UML. The validation was performed using modems, sensors and low-cost microcontrollers, obtaining a satisfactory response in a controlled environment. Validation is required to perform a more complex functionality, more robots and industrial environments with industrial features.