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Wireless sensor and actuator network is the key technology of service robot intelligent space. This paper is concerned with design and implementation of a ZigBee based wireless sensor and actuator network (hereinafter referred to as ZWSAN), which has been applied in our service robot intelligent space successfully. Firstly, a simplified ZigBee stack applied to ZWSAN is proposed and the primitives of the stack are illustrated after a short overview of ZigBee protocols. Then the implementation of hardware module and software stack is introduced in detail as well as several representative devices integrated into ZWSAN, including environmental sensors for environmental perception, home devices controllers for device control, embedded speech recognition module for speech control, IMU module for abnormal behaviors detection and laser robot control for service robot navigation. An application example is described to demonstrate how the devices in ZWSAN to provide service cooperatively. Finally, we conclude this paper and discuss the future directions

Zigbee Based Wireless Sensor and Actuator Network for Service Robot Intelligent Space