摘要
RFID技术利用无线射频信号在读写器与标签之间进行数据通信,射频信号具有一定的穿透性,解决了机器人定位与地图创建过程中传感器非视距的问题。提出了一种新颖的利用周围环境中少量的位姿未知的标签来估算出机器人位姿的方法,并采用粒子滤波算法来增强算法的鲁棒性。同时,还引入了RFID天线功率切换器来提高地图创建的准确性,降低了机器人的定位误差。最后通过定量分析影响定位效果的3个主要因子,证明了这种定位方法具有较高的定位精度。
RFID technology uses communication via radio waves to exchange data between a reader and an electronic tag. RFID can contribute solutionsto common problems in self-localization and mapping such as NLOS problem. A novel localization method for indoor robot based on RFID technology ispresented. It utilizes tags in the environment which position are unknown to estimate the robot pose. It also applies a particle filter to achieve robustness.Furthermore, it applies a power-switch to improve the accuracy of map and reduce the localization error.Finally, the experiments demonstrate this methodhave high precision by analyzing the three main factors.
出处
《微型电脑应用》
2011年第6期1-4,共4页
Microcomputer Applications
