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首页> 外文会议>International Symposium on Systems and Human Science; 20031119-20; Osaka(JP) >A Study on Localization of a Mobile Robot Based on ID Tags
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A Study on Localization of a Mobile Robot Based on ID Tags

机译：基于ID标签的移动机器人定位研究

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摘要

Localization is a feature of fundamental importance for mobile robots. A localization system which is low cost, easily accomplished, simple effective and robust is the continuous aim of researchers. Here, we propose a novel method for localization of a mobile robot using only an ID Tag. We propose this method based on two considerations. Firstly, a mobile robot can move straight and safely on the central line of a passage for at least 2 or 3 m, it is only necessary to adjust its position and orientation at a specified location such as a corner, passage crossing, an intermediate position of a long corridor, or where it meets with other mobile robots. Secondly, the absolute positioning and relative positioning can be separated. If the identification of absolute position can be implemented by RF communication, that will be very simple, effective and robust. Relative positioning can be implemented with other methods. In this chapter, the advantages of our method compared with others are discussed, the scheme of localization is described in detail, the localization conditions and results are presented and the factors that influence the accuracy and stability of the system are analyzed in detail. Finally, strategies for improving the system are discussed; two feasible methods have been proposed. We believe that localization using only ID Tags is possible after additional strategies have been adopted.
机译：本地化是对移动机器人至关重要的功能。低成本，易于实现，简单有效且强大的本地化系统是研究人员的持续目标。在这里，我们提出了一种仅使用ID标签定位移动机器人的新颖方法。我们基于两个考虑因素提出此方法。首先，移动机器人可以在通道的中心线上安全地直线移动至少2或3 m，仅需要在指定位置（例如拐角，通道交叉，中间位置）调整其位置和方向即可长长的走廊，或者与其他移动机器人相遇的地方。其次，绝对定位和相对定位可以分开。如果可以通过RF通信实现绝对位置的识别，那将是非常简单，有效和可靠的。相对定位可以用其他方法实现。在本章中，讨论了我们的方法与其他方法相比的优势，详细介绍了定位方案，介绍了定位条件和结果，并详细分析了影响系统精度和稳定性的因素。最后，讨论了改进系统的策略；已经提出了两种可行的方法。我们认为，采用其他策略后，仅使用ID标签进行本地化是可能的。

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