上海交通大学学报

上海交通大学学报（自然版） ›› 2012, Vol. 46 ›› Issue (02): 207-212.

• 自动化技术、计算机技术 • 上一篇    下一篇

移动机器人定位的自适应功率调节射频识别系统

王景川，方毅，陈卫东   

  1. （上海交通大学 电子信息与电气工程学院，系统控制与信息处理教育部重点实验室， 上海 200240)
  • 收稿日期:2010-12-28 出版日期:2012-02-28 发布日期:2012-02-28
  • 基金资助:

    国家自然科学基金资助项目(60934006，61175088)，高等学校博士学科点专项科研基金资助课题(20100073110018)

Mobile Robot Self-Localization Based on RFID System with Adaptive Power Control

 WANG  Jing-Chuan, FANG  Yi, CHEN  Wei-Dong   

  1. (School of Electronic, Information and Electrical Engineering, Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai Jiaotong University, Shanghai 200240, China)
  • Received:2010-12-28 Online:2012-02-28 Published:2012-02-28

摘要： 针对超高频UHF (Ultra High Frequency)射频识别RFID (Radio Frequency Identification)技术，提出了一种应用于移动机器人自定位的RFID自适应功率调节方法.在粒子滤波算法中，采用马氏距离作为粒子权重的评价函数，避免了粒子分离问题；同时，给出了粒子滤波定位性能的评价指标，并依此动态调节RF（Radio Frequency）功率，来适应当前局部环境中标签的分布特征.实验结果表明，该方法定位精度较高且一致性较好，同时优化了系统能耗.      

关键词: 移动机器人, 自定位, 超高频无线射频识别, 粒子滤波, 自适应功率调节

Abstract: An adaptive power control system for RFID which is applying for mobile robot localization was proposed. The Mahalanobis distance is introduced to particle filter as an evaluation function for particle weight to avoid particle depletion. Meanwhile, an evaluation function for the performance of localization using particle filter was proposed and used to adapt antenna power to the distribution character of tags in a local environment. The experiments show that the proposed method obtains higher and more consistent localization accuracy as well as systems reduced power consumption.

Key words: mobile robot, selflocalization； ultra high frequency radio frequency identification (UHF RFID)； particle filter； adaptive power control

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