A Method of Absolute Positioning of Mobile Robot Based on RFID System

A mobile robot and absolute positioning technology, applied in positioning, radio wave measurement systems, instruments, etc., can solve the problems of limited positioning accuracy, high cost, high system installation workload, etc., to achieve precise positioning and high positioning accuracy , the effect of improving the accuracy

Active Publication Date: 2021-12-31
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology

[0003] The existing RFID-based positioning technology is mainly based on the readability of tags or RSSI. Due to the low position sensitivity of readability and RSSI itself, the positioning accuracy of this type of method is limited.
In addition, since this type of method needs to rely on dense reference labels, this brings greater cost and higher workload for system installation, which limits the practicability of this method

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  • A Method of Absolute Positioning of Mobile Robot Based on RFID System
  • A Method of Absolute Positioning of Mobile Robot Based on RFID System
  • A Method of Absolute Positioning of Mobile Robot Based on RFID System

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Embodiment Construction

[0037] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0038] Such as figure 1As shown, this method installs the reader and reader antenna on the mobile machine, and installs the passive UHF RFID tag on the ground as a reference tag. The EPC of all reference tags and their corresponding positions in the world coordinate system are stored in the mobile robot as known information. During the continuous movement of the mobile robot, the RFID system is...

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Abstract

The invention belongs to the field of wireless positioning, and discloses an absolute positioning method for a mobile robot based on an RFID system. The method for absolute positioning includes the following steps: (a) establishing an initial particle set, wherein the particles correspond to the mobile robot, and the pose of a particle corresponds to the pose of a mobile robot; (b) for each particle at the current t-1 moment Pose, using the dead reckoning method to predict the pose of each particle at time t; (c) Construct the relationship between the total weight of particles at time t, readability weight and phase difference weight, so as to obtain the The total weight; (d) calculate the pose of the mobile robot at time t by using the total weight and the pose of each particle, so as to realize the absolute positioning of the mobile robot. Through the invention, the absolute positioning of the mobile robot is realized, the calculation is simple, and the positioning accuracy is high.

Description

technical field [0001] The invention belongs to the field of wireless positioning, and more specifically relates to an absolute positioning method for a mobile robot based on an RFID system. Background technique [0002] The real-time positioning of mobile robots can enable the real-time monitoring and dispatching of mobile robots and improve the intelligence level of the manufacturing industry, which has attracted extensive attention from researchers and industry professionals. The GPS positioning system is mainly used outdoors and fails in indoor environments such as warehouses and factories. Positioning methods based on vision, laser, RFID and other sensors have become a research hotspot. Since RFID is free from light and dust interference, it is cheap, has the function of ID identification, and can complete the extraction and identification of tags robustly and efficiently, which has outstanding advantages. [0003] The existing RFID-based positioning technology is mai...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S5/02
CPCG01S5/0284
Inventor 陶波吴海兵黄飞虎黎真龙武翀尹周平
Owner HUAZHONG UNIV OF SCI & TECH
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