A Fusion Method Of Localization And Path Planning Of Mobile Robot Based On RFID Technology And Dead Reckoning

Autonomous localization is one of the basic tasks of mobile robots. Traditional localization methods normally use a single sensor so that they always suffer from localization errors. With the application of multi sensors, the corresponding fusion algorithms also appear in large numbers. This paper mainly studies how to use the RFID technology and dead reckoning to improve the localization accuracy of the mobile robot and complete the task of autonomous path planning.First of all, this paper introduces the principle of RFID and odometer respectively along with their error sources. Through the analysis of the error sources of RFID localization system, an improved pattern of arranging RFID tags is proposed. The maximum error of RFID system can be effectively reduced in this way. According to the characteristics of the localization scheme, a fusion localization algorithm uses Kalman filter with a threshold is proposed:after the screening of the RFID tag data, different algorithms are used according to the relative error of different sensors. As a result, the accumulative error of the odometer is partially removed. The localization accuracy of the whole system is also improved.Then, based on the previous research, the path planning of the mobile robot through the proposed algorithm is analyzed in detail in the case of unknown environment information. Some problems are analyzed in detail, such as the long moving path and the repetition of the moving path, and the corresponding solutions are put forward. In order to improve the intelligence of the mobile robot, a simple strategy is proposed to explore more unknown paths. By saving the important positions of the movement path, a topological map, which can be used to find out a more efficient path using search algorithm such as A*, is built. Furthermore, the topology map can be updated through the data from the mobile robot when it moves.At last, experiments and comparative analysis are carried out for the above proposed algorithms. Simulation results show that the proposed fusion localization algorithm can effectively improve the localization accuracy of the mobile robot and the proposed path planning algorithm can successfully lead the mobile robot to the target in unknown environment through a short path and build a topology map simultaneously.