In this paper, we propose a wireless sensor network based safe navigation algorithm for micro flying robots in the industrial Internet of things (IIoT). A micro flying robot cannot be equipped with heavy obstacle detection sensors for local navigation. Therefore, in our method, a wireless sensor network consisting of three-dimensional range finder is used to detect the static and dynamic obstacles in an indoor industrial environment and navigate the micro flying robots to avoid any collisions with the obstacles. Only a path tracking controller is required for the micro flying robot and there is not any complex computation on the micro flying robot. It is an economical and efficient solution for multiple micro flying robots' navigation and management in the IIoT. The computer simulations confirm the expected performance of the proposed algorithm in static and dynamic environment with multiple micro flying robots.

中文翻译：

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工业物联网中基于无线传感器网络的微型飞行机器人导航


在本文中，我们提出了一种基于无线传感器网络的工业物联网（IIoT）微型飞行机器人的安全导航算法。微型飞行机器人无法配备用于本地导航的重型障碍物检测传感器。因此，在我们的方法中，使用由三维测距仪组成的无线传感器网络来检测室内工业环境中的静态和动态障碍物，并对微型飞行机器人进行导航以避免与障碍物发生任何碰撞。微型飞行机器人只需要路径跟踪控制器，没有任何复杂的计算。它是工业物联网中多个微型飞行机器人导航和管理的经济高效的解决方案。计算机模拟证实了所提出的算法在多个微型飞行机器人的静态和动态环境中的预期性能。