A Study On The Indoor Navigation Of Mobile Robot Based On The UHF RFID Hybrid Positioning Algorithm

Autonomous navigation of mobile robot research has always been an important issue in the field of mobile robot research.In order to achieve this kind of "smart" autonomous mobile,first of all robots must be accurate and target positioning itself,which rely on all kinds of sensors to obtain the environment information.Then through the wireless network calculations to determine their own and the target position in a complex environment.At last,based on the strategic planning of prefabricated in advance to find a feasible path relative to the target position,and then control the robot towards the target moving along the path planning.To this end,this thesis explores the indoor autonomous mobile robot localization and related algorithm,an improved method and related core questions in navigation strategy,and through the relevant experiments to validate some views.The main tasks of this thesis including:We put forward a kind of passive UHF RFID as the medium of hybrid positioning method,the method based on AOA location algorithm,into the TDOA algorithm of time difference.The simulation results show that the proposed method has better location performance compared with the traditional single localization algorithm.We establish the kinematics and control mathematical model of a two wheel independent drive robot,and point out that the two wheel independent drive mobile robot on the ground motion can be decomposed into linear and rotational method.And the overall scheme of indoor navigation strategy is presented,including the corresponding navigation or path planning strategy and control algorithm.We also studies the methods of error correction of robot navigation control in practice,and the relevant algorithms are analyzed in the simulation.Finally,based on the Pioneer 3-DX type mobile robot platform from MobileRobots company,we design a set of navigation system and carry out related experimental research.The actual robot positioning effect are analyzed in the experiment,and verify the actual effect of the navigation strategy proposed in this paper.The experimental results have shown that the localization algorithm and navigation strategy for short distance and long distance indoor machine has good effect of navigation.