利用RFID之室內機器人定位導航及避障系統

本篇論文主要目的在於利用RFID提供一個有效率的方式來進行機器人的導航以及避障。假設機器人能夠判讀標籤的編碼和測量每個標籤的RSSI以及讀取地面上的標籤。然而，因為現今的天線和標籤之間存在不可避免得誤差。換句話說，錯誤必然存在於天線和標籤之間。也因此許多研究人員會加上一些其他的感應器來減少導航中產生的誤差。但如何只利用RFID完成導航才是最好的方法。本論文提出一個不同於現今的方法能夠只利用RFID以及用正三角形方式鋪在地上的標籤就可以進行機器人的導航。最後的實驗也證實本論文所提出的方法確實可以準確的利用在定位和導航中。

關鍵字

RFID ；定位系統；避障系統；導航系統

並列摘要

This paper proposes an efficient method for localization and pose estimation for mobile robot navigation using passive radio-frequency identification (RFID). We assume that the robotis able to identify IC tags and measure the robot’s pose based on Received Signal Strength Indication (RSSI) and IC tags on the ground. However, there arises the problem of uncertainty of location due to the nature of the antenna and IC tags. In other words, an error is always present which is relative to the sensing area of the antenna. Many researches have used external sensors in order to reduce the location errors, with few researches presented involving purely RFID driven systems. Our proposed algorithm that uses only passive RFID is able to estimate the robot’s location and orientation more precisely by using function that RSSI into the distance and The IC tag affixed to Triangle manner on the ground The experimental results show that the proposed method effectively estimates both the location and the pose of a mobile robot during navigation.

並列關鍵字

RFID ； location system ； Avoid obstacles system

參考文獻

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localization based on an omni directional stereoscopic vision perception

國際替代計量

利用RFID之室內機器人定位導航及避障系統

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