With the development of Internet of Things technology, Wireless Sensor Network and robotics are applied more and more extensively in different fields in the information era. Wireless sensor network has the characteristics of low power consumption, self-organization, and robotics has the traits of intelligence, adaptability. The appliance of both two technologies generates a control platform based on wireless sensor network, which combined sensor network, automatic control, communication technology and network feedback control, creates great practical and researching value. It is expected to own a wide application prospect in military simulation, intelligent transportation, industrial production, logistics, transportation and other fields.

With the method of integrating Wireless Sensor Network and mobile robotics, in accordance with trajectory tracking problems in the executions of mobile robots, in this article, a multi-robot control system based on feedback of wireless sensor network will be presented, which will solve mobile robot trajectory tracking control problem under continuous positioning data feedback in engineering project, realized the mobile control of multiple mobile robots.

Firstly, this article embarks from overall scheme design of the system, analyzes the functional requirements, sets up a preliminary framework for the system, and describes the construction and the key technologies of wireless sensor network control system. Control platform consists of three parts: vision localization, center computer and mobile robots. The analysis and design the whole system will be commenced from hardware selection and software process, which will establish a foundation for the specific integration and implementation.

Secondly, as the wireless sensor network is the basis of system information interaction, in order to ensure the transferring of instructions being effective and timely, this system employs the ZigBee technology as a way of communication, introduces the network mode, data transceiver command protocol and transmission mode, etc. The article will analyze the kinematics model of mobile robots in cartesian coordinate system, using fuzzy control as the mobile robot control algorithm. An angle fuzzy controller will be designed as an example, embedded programming implements the task instruction execution process which based on strategy adjustment, the preparation work is supposed to be completed before the experiment.

Finally, on the basis of integration of system platform and control algorithm, an experiment of multiple robot control system in a field of 5000mm*2400mm will be designed, for acquiring data and collecting samples. To evaluate tracking precision of the system, a fitting function deviation calculation method based on the least squares will be employed, the Matlab will be applied to process piecewise fitting calculation between actual trajectory and tracking trajectory, the average deviation from the ideal trajectory will be observed eventually, the average error analysis results will prove that the robot control system can track the ideal trajectory effectively, which would provide some practical supports for further research and application of multiple robot control system.