移动机器人室内无源RFID定位方法及实现

摘要

为提高室内机器人的定位精度,提出一种无源RFID的室内移动机器人定位方法.RFID标签采用蜂窝排布模型,提高读卡器检测效率;对RSSI定位方法按工程实际提出了校正模型,同时针对多信标定位最优值寻优的问题,引入微分进化算法对位置坐标进行求解;在(4×4)m2场地内进行了验证,实验结果表明,较极大似然估计具有更高的定位精度,绝对误差小于10.16 cm;较标准遗传算法能够在更少的迭代步内获得最优值,平均节省37%的计算时间.%In order to improve the positioning accuracy of indoor mobile-robot, a new positioning method has been designed based on passive RFID. In this paper, RFID beacon is arranged as cellular model for improving the card reader efficiency;RSSI positioning method correction model is put forward with engineering practice;for the optimal value problem in posi-tioning process with multiple beacons, Differential Evolution algorithm is introduced. Final, physical verification is designed within the scope of(4×4)m2. The experimental result shows that, the method has higher positioning accuracy than MLE, absolute error is less than 7%of the RFID beacon interval;it can obtain optimal value in less iteration steps than standard genetic algorithm, 37%less computation time has saved.