Research On Autonomous Navigation Technology Of Mobile Robot Based On RFID Servoing

Intelligent mobile robots play a major role in improving production efficiency and improving our quality of life.Autonomous navigation is the core capability of intelligent mobile robots and a research hotspot in the field of mobile robots.Compared with traditional mobile robot navigation technologies such as vision,laser,and inertial navigation,Radio Frequency Identification(RFID)technology shows unique potential in the field of robot navigation because of its unique ID recognition,non-line-of-sight,unaffected by illumination,automatic identification,and low cost.Aiming at the problems that in the existing RFID navigation technology,such as a large number of reference labels need to be laid,navigation track twists,and poor real-time performance,This paper proposes a mobile robot autonomous navigation method based on RFID phase gradient servo principle and obstacle avoidance method based on RFID tag angle estimation,which realizes efficient navigation of mobile robot.The main research contents of this paper include:The mobile robot servo principle based on RFID phase gradient is proposed.According to the relationship between phase and propagation distance in RF signals,an RFID servo method based on phase gradient is proposed.The feasibility and effectiveness of the proposed algorithm are proved.The invention overcomes the defects that a large number of reference labels need to be laid and navigation tracks twists in the current RFID servo method.A phase gradient based objective function is constructed,and a target arrival determination method based on Received Signal Strength Indicator(RSSI)is proposed.A PID-based servo controller is designed.Simulation experiments in a variety of different environments show that the RFID phase gradient based mobile robot servo method proposed in this paper has good navigation performance and stability,and solves the problem that the existing RFID servo technology cannot determine whether the target position is reached.An obstacle avoidance method based on RFID tag angle estimation is established.An Angle of Arrive(AOA)estimation method based on dual-antenna timing array is proposed,which overcomes the problem that the installation distance of two antennas cannot exceed "?/2" in the traditional AOA method.A fuzzy logic controller for obstacle avoidance is designed to realize the obstacle avoidance function in the case where the types and the number of obstacles are different.An experimental platform of RFID servo navigation system was built.The mobile robot navigation experiment based on RFID servo was carried out under three different test conditions: fixed target position,sudden change of target position and continuous movement of target position.The trajectory and arrival attitude of the robot are analyzed respectively,and the effectiveness and superiority of the proposed RFID servo algorithm are verified.