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

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