一种超高频与低频RFID相结合的导盲机器人定位与导航方法

摘要/Abstract

摘要：

以导盲机器人为研究载体,设计了一种将超高频和低频RFID相结合的定位与导航方法。根据RFID的信号能量-传播距离的衰减关系,在目标点处设置超高频标签来估算机器人坐标和宏观走向;在拐点处定义并设置低频信标组,来校正超高频定位所产生的干扰误差,并减少避障传感器在拐点处产生的多余及错误的动作。实验表明,该方法可在原有基础上提高导盲机器人在室内环境中的定位精度并减少多余路径的出现。

关键词: RFID:导盲机器人, LANDMARC定位系统, 低频信标组, 超高频

Abstract:

This paper presented a navigation and localization method combined LF and UHF of RFID tags for a seeing eyes robot. According to the relationship between the energy level of signal strength of RFID and distance, UHF tags were set at the target point in order to estimate the coordinate and the macro-straight path of the robot. LF tags were defined and set at the inflection point with the purpose of correcting the interference errors caused by the UHF location, as well as reducing redundant or wrong actions produced by obstacle avoidance sensors which were commonly occurred at the point. Experimental results show that the proposed method can improve positioning accuracy and reduce redundant and repeat path for the seeing eyes robot in indoor environment.

Key words: radio frequency idontification(RFID), guide seeing eyes robot;LANDMARC loating system;low frequency(LF) beacon group;ultrahigh frequency

中图分类号:

TP242.3

陈超, 靳祖光, 唐坚. 一种超高频与低频RFID相结合的导盲机器人定位与导航方法[J]. 中国机械工程, 2014, 25(8): 1059-1064.

Chen Chao, Jin Zuguang, Tang Jian. Navigation and Localization Strategy of Seeing Eyes Robot Using LF and UHF RFID Tags[J]. China Mechanical Engineering, 2014, 25(8): 1059-1064.

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