Formation system and formation method of multi-mobile robot based on wireless sensor network

The invention discloses a formation system and a formation method of a multi-mobile robot based on a wireless sensor network, which belongs to the field of wireless sensor network and multi-robot control and solves the problem that the measuring range and the measuring accuracy are easily affected by environmental factors as multiple sensors are depended in the traditional multi-robot formation. In the formation system of the multi-mobile robot, the wireless sensor network is formed by gateway nodes, multiple beacon nodes, multiple master robot nodes and slave robot nodes, the communication between an upper computer monitoring system and the gateway nodes is realized through a serial communication port, the state monitoring for mobile nodes in the wireless sensor network is realized, and the beacon nodes which are used as fixed nodes are used for supplying position information support for the mobile nodes. In the formation method disclosed by the invention, target point position is sent to the master robot nodes through the gateway nodes by adopting an upper computer, the own positions of the master robot nodes and the slave robot nodes can be determined through the beacon nodes, and the master robot nodes drive all the slave robot nodes to carry out autonomous navigation towards the target point.