A robot is designed as the special mobile node of WSN.The design can realize the dynamic deployment of nodes and enlarge the monitoring range of WSN.The coordinate system

which denotes the mobile robot’s state and navigation space

is set up based on the RSSI potential field.And it can decrease the model error while RSSI value is converted to distance.The distributed navigation system consists of some nodes which are in one hop communicating region of robot.Each beacon node can detect the distance which is quantized by RSSI value and calculate the control outputs.Then the fuzzy logic control centre will collect the control outputs from each beacon node and calculate the final outputs for mobile robot based on data fusion.Most of calculations are implemented by each static node

it can effectively reduce the robot complicated design and the hardware cost.The effectively of the navigation system based on WSN are fully proved by the simulation and the experimental results.