Abstract: To implement mobile node autonomous navigation in WSN applications efficiently with low cost,an autonomous navigation method for mobile nodes based on RSSI(received signal strength indicator) and network topology is presented.A distributed navigation subnetwork consists of some beacon nodes,and each node has its independent navigation target and can make the decision in favor of itself.Decision information of several nodes is fused with multi-objective decision coordination technique to obtain final navigation control strategy,and then optimal control of the navigation system can be achieved.Distributed computing technology is used in the navigation algorithm,and most of data processing tasks are implemented by each beacon node,so design complexity and hardware cost of the robot can be effectively reduced.The validity of the system is fully proved by both the simulation and the experimental results.