摘要： 针对多目标跟踪易产生网络冲突与超声波传感器之间的干扰问题，搭建多目标实时跟踪及反馈控制平台，提出一种有效的传感器节点调度策略。对于网络中分布式的异步测量问题，研究扩展卡尔曼滤波定位算法，实现多目标实时定位跟踪。实验结果表明，该策略有效避免多目标跟踪造成的超声波测量干扰和网络冲突，实现机器人网络化实时反馈控制和多机器人协同控制。

关键词: 无线传感器网络, 分布式异步测量, 扩展卡尔曼滤波算法, 实时跟踪, 反馈控制, 多机器人协同控制

Abstract: Aiming at the problems of the network conflict and interference between the ultrasonic sensor caused by multi-target tracking, this paper builds a multi-target real time tracking and feedback control platform, and puts forward an effective negotiation sensor node task scheduling strategy. In view of the network’s asynchronous measurement problem, it studies the node Extended Kalman Filter(EKF) localization algorithm, fulfills the multi-target real time locating and tracking. Experimental result shows that the strategy avoids efficiently the ultrasonic sensor measurement interference and the network conflict caused by multi-target tracking, realizes the robot networked real time feedback control and multi-robot synergy control.

Key words: Wireless Sensor Network(WSN), distributed asynchronous measurement, Extended Kalman Filter(EKF) algorithm, real time tracking, feedback control, multi-robot synergy control

中图分类号: 

• TP393