面向大型智能仓储的无线传感器网络与移动机器人协作数据传输及分布式导航研究

Wireless sensor networks (WSNs) and mobile robots play an important role in intelligent warehouses, and the hybrid system of them will become a typical IoT scenario. This project aims leveraging the cooperation between sensor networks and mobile robots to improve the efficiency and reliability of data transmission and navigation in the warehousing environment, thus laying the theoretical foundation for realizing intelligent warehousing. Firstly, we study the data collection with uncontrolled mobile robots to maximize the network life of WSNs while guaranteeing delay constraints. Secondly, a control message delivery algorithm based on sensor network is proposed. We adopt a competition based mechanism to establish preparatory routes, and combine the wake-up scheduling with redundant forwarding mechanism, thus improving the timeliness and reliability of the message transmission. Thirdly, the cooperative localization of sensor networks and mobile robots is studied. We derive the joint posterior probability distribution and establish motion model and multivariate measurement model. Therefore, the measurement information can be fully utilized to realize high-precision positioning of both mobile robots and WSNs. Then, the distributed dynamic path planning of multiple robots based on sensor networks is studied to improve the convergence speed, dynamic adaptability and scalability of the algorithm. Finally, we build a prototype system of cooperative sensor networks and mobile robots for intelligent warehousing, and verify the proposed algorithms.

无线传感器网络和移动机器人是智能仓储的重要组成部分，二者的混合系统将成为典型的物联网场景。本项目旨在研究仓储环境下如何发挥传感器网络和移动机器人的协作优势，提高数据传输及导航的效率与可靠性，为仓储智能化水平的提高奠定理论基础。首先，研究基于不可控多移动机器人的传感器网络数据收集，在保障时延约束的前提下最大化网络生存周期。其次，研究基于低占空比传感器网络的移动机器人控制消息传输，采用竞争机制建立预备路由，结合唤醒时间调度和冗余转发机制，提高消息传输的实时性和可靠性。再次，研究传感器网络与移动机器人的协作定位，推导其状态空间联合后验概率分布，建立机器人运动和系统多元信息测量模型，同时实现二者的高精度定位。然后，研究基于传感器网络的多移动机器人分布式动态路径规划，提高算法的收敛速度、动态适应性和扩展性。最后，搭建面向智能仓储的传感器网络与移动机器人协作原型系统，完成实验验证。

本项目针对智能仓储中无线传感器网络与移动机器人混合系统，充分发挥二者的协作优势，提高系统数据传输及移动导航的效率与可靠性。提出了基于睡眠调度和非睡眠调度无线传感器网络的高效数据传输算法，保障移动机器人数据传输的实时性和可靠性。研究了多源信息融合的传感器网络与移动机器人协作定位方法，实现了机器人和网络节点的同时定位以及环境地图的实时构建。设计了基于传感器网络的多移动机器人全局和局部动态路径规划方法，以及仓储环境下避免冲突和死锁的多移动机器人运动协调方法，实现了复杂环境下的快速、安全导航。搭建了无线传感器网络与移动机器人协作实验平台，用于方法验证。本项目的研究成果为智能仓储中传感器网络与移动机器人的协同作业奠定了理论基础，并可推广应用于应急救援等场景。

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