RFID-based Indoor Robot and Target Object Localization System

• Main Authors: Chi-Tao Chuang, 莊其道
• Other Authors: Ren C. Luo
• Format: Others
• Language: en_US
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/06114409482094074546

碩士 === 國立中正大學 === 電機工程所 === 95 === Autonomous mobile robots can be a solution for various applications. Therefore, precise localization is important for service robots, e.g. in warehouse, hospitals, airports or railway stations. Considering cost and performance, RFID can be a candidate. In this thesis we mentioned a prototype – a RFID system that enables robots to move indoors and localize themselves and target object. We utilize the relative angle between RFID antenna and tag to localize position of robot and target object, and use weighted average, Gaussian-weighted average, and variable RF-attenuation methods to reduce error. We use both 900 MHz and 2450 MHz RFID devices to verify our supposition. In the experiment, we use 900 MHz devices. Because detecting angle of antenna is about 180 degree, RF energy can not be concentrated. The detecting range which antenna cooperate with passive tags is within 3 meter. So, we measure data in the area which robot leave the wall within 2.5 meter. In a clear and simple environment with single wall, we reduce error of estimation position of robot within 10 cm in the range which robot leave the wall 0.5 m to 2 m. Then, we measure data in the area which robot leave the wall of corner 0.5 m to 2 m. We use variable RF-attenuation to reduce error of estimation position within 15 cm in a clear corner. In the experiment, we use 2450 MHz devices. Because energy of antenna concentrated by smart antenna array, the detecting range which antenna cooperate with semi-active tags is more than 8 m. So, we want to provide the function of target object localization besides robot localization. In preliminary experiment, we reduce error of estimation position of robot and target object about 30~40 cm in a clear and simple environment with single wall.