Research On Indoor-locating Navigation For Omnidirectional Mobile Robot Based On RFID And Zigbee

With the improvement of human livings,there is a growing demand for indoor positioning.(especially the limited-operating space and the complex indoor environmen),people need more flexible mobile system to replace artificial operation and intelligently manage the storage and mobile platforms.Based on this,this thesis designs an omnidirectional mobile robot platform based on Mecanum,and studies the indoor location tracking scheme based on RFID and ZigBee wireless sensor.In this thesis,the omnidirectional mobile robot and indoor positioning technology development present situation are studied,combining the advantages of RFID and ZigBee positioning,non line-of-sight and easy to expand,the overall design scheme is put forward.The omnidirectional mobile robot platform motion system is analyzed,the kinematic model of the system is established and the effect of the Mecanum gear train layout structure is studied.The rule of the most neighboring distance is used to optimize the LANDMARC localization algorithm based on RFID,because of the low-locating efficiency and choosing wrong reference tags easily of the LANDMARC localization algorithm.The radio signal indoor-transmission loss model of "RSSI-distance" is established because of the multipath effect and environmental factors during radio signal transmission indoors.The gaussian filtering algorithm is used to eliminate jitter,providing reliable signal transmission model for ZigBee node positioning.Based on ZigBee's node positioning principle,the "lose-distance" model will accept the signal strength RSSI value to calculate the distance.A correction model based on RSSI localization algorithm is proposed,improving the reliability of the positioning,and correcting and fusing the positioning results to improve the accuracy of the robot indoor location.The omnidirectional mobile robot experimental platform is set,and the indoor location algorithm based on RFID and ZigBee has carried on the experiment,the experimental results show that the indoor location algorithm based on RFID and ZigBee can effectively calculate the label(node)position,has a good effect of locating and tracking,implement the omnidirectional mobile robot indoor positioning navigation task.