基于RFID无阻塞扫描控制的机器人室内定位设计

针对RFID移动机器人室内定位中的标签扫描问题,提出一种基于六边形分布模式的RFID无阻塞扫描控制方案,用于机器人的室内定位系统设计和误差检测。首先,将RFID标签根据六边形模式进行分布,减小位置估计的静态误差；然后,阅读器利用固定信道分配(FCA)方法给每个标签分配ID,使阅读范围内标签ID都不相同；最后,当阅读器读取信息时,发送查询请求给范围内的标签,标签根据自身ID决定应答时隙,避免冲突。实验结果表明,相比基于树的扫描控制方案,本文方案能够降低标签/阅读器的复杂度,同时具有较小的位置估计误差和扫描延迟,可帮助机器人实现精确定位。

Design of robot indoor localization based on non-blocking scanning and controlling with RFID

In order to solve the tag scanning problems in radio frequency identification (RFID) mobile robot indoor localization, a non-blocking scanning and controlling scheme based on hexagonal distribution mode is proposed to apply into indoor positioning and error detection of robot. Firstly, it distributes RFID tag according to the hexagonal pattern, reducing the static error of location estimation; Secondly, the reader uses fixed channel allocation (FCA) method to distribute the ID, which makes the tag ID is not the same in reading range; Finally, reader send a query request to the range of tags when reading the information, labels decision response time slot according to the its ID to avoid conflict. The experimental results show that, compared with the tree-based scheme, this scheme can reduce the complexity of the tag / reader, has a smaller position estimation error and delayed scan, and can achieve precise positioning.