RFID技术在一种餐厅服务机器人定位中的应用

Application of RFID Technology in Restaurant Service Robot Localization

为了提高服务机器人的定位精度,提出了一种基于射频识别(RFID)的服务机器人定位方法.设计了一套特殊的RFID系统,该系统采用读写范围较小的RFID读写器及被动式电子标签,减少了读写器读取标签的距离误差,从而提高了基于RFID定位方法的定位精度.使用读写器读取电子标签中存储的坐标数据,根据读写器安装位置与机器人中心之间的几何关系,得到机器人准确的位置,并能完成机器人航向角的判定.试验证明:该方法受环境影响小,具备较高的鲁棒性,能够获得低于±20mm的定位精度,完全满足服务机器人精定位要求.

In order to increase the localization accuracy of the service robot, a localization method based on radio frequency identification （RFID） is presented. A special RFID system with RFID interrogators for relatively small areas and passive tags is designed to reduce the distance errors and increase the localization accuracy when the interrogators read the tags. The robot obtains the coordinate data in the tags by the interrogators, calculates its position and yawing angle accurately according to the geometric relationship between the center of the robot and the interrogators’ installation position. The experimental result shows that this method has better robustness and less affected by environment.It achieves less then ±20 mm locating accuracy,which fully satisfies the requirement of the service robot localization accuracy.