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.