This paper is concerned with the design and implementation of a ZigBee based wireless sensor and actuator networks, which has been applied in our service robot intelligent space successfully. Firstly, an overview of ZigBee protocol is given, and then the design and implementation of hardware module and software stack of ZigBee based wireless sensor and actuator networks are addressed in detail. Some representative devices are described, including environmental sensors for environmental perception, home devices controllers for device control, IMU module for abnormal behaviors detection, locating system for node localization and laser robot control for service robot navigation. Application example is described to demonstrate how the devices in ZigBee based wireless sensor and actuator networks to provide service cooperatively. Finally, we conclude this paper and discuss the future directions.
Design and Implementation of RF based locating System for NLOS Environment
