Mobile robot pose estimation method based on RFID

A mobile robot, pose estimation technology, applied in the direction of instruments, positioning, short-distance communication services, etc., can solve the problems of target tracking and positioning, influence, positioning error, etc.

Inactive Publication Date: 2018-03-13
NANYANG NORMAL UNIV
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Problems solved by technology

At present, GPS is widely used in the positioning system of mobile robots. However, due to the influence of factors such as price cost, power consumption, and scalability, it is easy to generate large positioning errors in the face of complex indoor environments, and it is impossible to perform real-time positioning on the target. track location
[0003] The vision-based pose measurement system uses the specific objects in the surrounding environment captured by the vehicle-mounted camera as a refe

Method used

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  • Mobile robot pose estimation method based on RFID
  • Mobile robot pose estimation method based on RFID
  • Mobile robot pose estimation method based on RFID

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Embodiment Construction

[0070] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

[0071] like figure 2 Shown, before the experiment of the present invention, fix RFID tag, move RFID reader, measure signal strength value every 5cm, measure 20 times and get average value to each position, obtain p( in formula (1) by curve fitting d 0 )=-45.63, n=1.832. During the experiment, the robot continuously reads the signal strength value of each reference tag 20 times at the planning point.

[0072] A method for estimating the pose of a mobile robot based on RFID mainly includes:

[0073] Step 100: location coordinate estimation algorithm based on RFID received wireless signal strength;

[0074] Step 200: Estimation of the orientation angle θ of the mo...

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Abstract

The invention discloses a mobile robot pose estimation method based on a RFID. The method mainly includes: step 100, receiving a robot position coordinate estimation algorithm of a wireless signal intensity based on the RFID; and step 200, estimating an azimuth theta of a mobile robot. According to the mobile robot pose estimation method based on the RFID, a robot positioning system based on the RFID signal intensity and a robot positioning algorithm based on maximum likelihood estimation are combined, the method of weighted least squares is applied to the solution of maximum likelihood equations of robot coordinates, the combination of two algorithms is realized, the positioning precision is effectively improved, the influence of the environment on the system is small, and the positioningerror is stable.

Description

technical field [0001] The present invention relates to the technical field of RFID-based mobile robot positioning, in particular to an RFID-based mobile robot pose estimation method. Background technique [0002] With the development of the application of robots in people's daily life, the research on indoor mobile service robots has become a hot spot. In the indoor intelligent robot positioning perception system, the robot's own positioning and pose estimation capabilities are extremely important for path planning and motion control. At present, GPS is widely used in the positioning system of mobile robots. However, due to the influence of factors such as price cost, power consumption, and scalability, it is easy to generate large positioning errors in the face of complex indoor environments, and it is impossible to perform real-time positioning on the target. Track location. [0003] The vision-based pose measurement system uses the specific objects in the surrounding e...

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Application Information

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IPC IPC(8): G01S5/02H04W4/80
CPCG01S5/0247
Inventor 崔明月刘红钊刘伟秦怡吕晓东张新刚马世榜
Owner NANYANG NORMAL UNIV
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