基于ZigBee网络和超声定位的智能跟随小车

基于成熟的IEEE802.15.4协议和ZigBee无线模块，结合超声定位，设计了一种新颖的智能跟随系统。设计的核心为PIC18F4620单片机和MRF24J40MA无线收发模块，通过无线收发来完成节点间的识别与同步，同时以超声测距系统完成对被跟踪目标的定位，通过控制驱动电机动作实现对指定目标的定距离跟随。控制网络以子网的形式控制不同系统的分时定位跟随，同时管理各移动定位系统的入网和切换。样机测试结果表明系统达到了预期的跟随设计要求，具有一定的工程使用价值。

Intelligently tracking car based on Zigbee network and ultrasonic sensor

A novel intelligently tracking car is presented in this paper, based on IEEE Standard 802.15.4, Zigbee wireless module and ultrasonic sensors. The system is designed based on the PIC18F4620 micro-controller and MRF24J40MA RF Transceiver Module. The system uses RF Communication for the identification and synchronization of nodes, and ultrasonic module for distance measurement and positioning, thus controlling the motors in the car to track the specific target at a certain distance. The control network is composed of sub-nets to control different systems using time-division strategy. Meanwhile, the network is responsible for managing accessing of new systems and switching between sub-nets. Test results prove that the designed system is reasonable for intelligently tracking, and is useful in practical engineering.