摘要
针对有源射频识别(RFID)技术在室内定位的特点,使用有源射频模块,基于Visual C++6.0平台,开发了一种室内移动机器人定位系统。选用接收信号强度指示值最大的4个标签作为定位标签,提出了一种增加移动误差的改进极大似然估计定位算法,实现了室内移动机器人位置的测量。实验表明:应用改进极大似然估计定位算法的定位系统可较好地实现机器人稳定工作;平均定位偏差降低32%,达到0.332 14 m;定位精度明显提高,可满足室内移动机器人的定位要求。
Active radio frequency modules were used to develop an indoor mobile-robot localization system based on the Visual C＋＋6.0 platform in consideration of the characteristics of active Radio Frequency Identification（RFID）.An improved maximum likelihood estimate localization algorithm was then presented to increase the motion error and measure the robot position,with four biggest received signal strength indication labels selected as the localization labels.Mobile-robot localization tests show that the localization system reduces the average localization deviation by 32% with an average value of 0.332 14 m.The significantly enhanced positioning accuracy meets the indoor mobile-robot positioning requirements.
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2010年第5期673-676,共4页
Journal of Tsinghua University(Science and Technology)
基金
国家"八六三"高技术项目(2007AA04Z255)
北京市教委科技发展计划项目(KM200710017005)
关键词
有源RFID
极大似然估计
定位系统
active RFID
maximum likelihood estimation
localization system
