Dynamic Target Localization And Tracking Based On Mobile Robot And RFID

With the emergence of a large number of service robots in logistics,shopping malls,airports and other environments,there is an increasing demand for service robot positioning and tracking.Traditional visual positioning requires not only in the line of sight but also complex classification algorithms.Conventional laser positioning can accurately locate all obstacles in the environment,but can not identify the target that needs to be located,so there is singularity.RFID has a global unique ID as an identifier,so it does not require complex classification algorithms and solves environmental occlusion problems,and can also solve the singularity of laser positioning.Therefore,this paper studies the positioning and tracking of dynamic targets by using RFID technology and laser sensors.Specifically,the RFID sensor model is first establi shed.The RFID sensor cannot directly provide the location information of the tag,but can provide information such as signal strength and phase.Therefore,an RFID sensor model needs to be established to correlate the signal strength information with the location information of the tag.By posting a large number of tags in the environment,and using the robot to collect a large amount of tag information stored in the database,and then through the database information to establish an RFID sensor model.Then,the radial velocity estimated by the laser cluster is matched to the estimated radial velocity of the RFID phase information.Since the tag worn on the dynamic target is very close to the radial velocity of the dynamic target,the information can be merged by speed matching.In this paper,the original laser data is clustered,and the radial velocity of the dynamic target is obtained by processing the clustering information at the adjacent time.At the same time,the RFID phase information is processed to obtain the radial velocity of the tag.The two radial velocities are then matched and ordered,and K best matches are selected to locate the dynamic targets.Finally,the particle filter is used to fuse the RFID signal strength information with the speed matching result to locate and track the dynamic target.The RFID signal strength information is incorporated into the particle filter weight update stage through the pre-established RFID sensor model,and the weight is further constrained by the speed matching result,and then the average position of all the remaining particles is averaged to obtain the precise position of the dynamic target.Finally,according to the real-time position of the dynamic target relative to the robot,the position is decomposed into linear velocity and angular velocity,thereby controlling the robot to track the dynamic target.The algorithm has been verified in the indoor environment.Experiments show that the subject is based on the dynamic target localization and tracking method of mobile robot and RFID,which effectively improves the positioning accuracy and tracking effect of the system.