计算机工程与应用 ›› 2017, Vol. 53 ›› Issue (16): 230-236.DOI: 10.3778/j.issn.1002-8331.1608-0434

• 工程与应用 • 上一篇    下一篇

移动机器人室内无源RFID定位方法及实现

李  珣1,刘  丽2,洪  良1,王晓华1   

  1. 1.西安工程大学 电子信息学院,西安 710048
    2.西安工程大学 管理学院,西安 710048
  • 出版日期:2017-08-15 发布日期:2017-08-31

Localization method and implementation for indoor robot based on RFID

LI Xun1, LIU Li2, HONG Liang1, WANG Xiaohua1   

  1. 1.College of Electronic and Information, Xi’an Polytechnic University, Xi’an 710048, China
    2.School of Management, Xi’an Polytechnic University, Xi’an 710048, China
  • Online:2017-08-15 Published:2017-08-31

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。

关键词: 射频识别(RFID), 移动机器人, 室内定位, 微分进化算法

Abstract: 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 positioning 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.

Key words: Radio Frequency Identification(RFID), mobile robot, localization indoor, differential evolution algorithm