臺灣博碩士論文加值系統

隨著數位家庭及智慧型機器人的興起，兩者的結合已經成為未來的趨勢。吸塵器機器人即是目前最有名的家庭智慧型服務機器人。當機器人完成任務或電力衰弱時，將會返回基座充電。而機器人在通訊設計上，一般使用紅外線與基座來做溝通。在本篇論文中，我們將使用無線射頻識別（Radio frequency identification, RFID）來取代紅外線，因為無線電在傳播上有不受視線傳播拘束及傳播範圍較廣的優點。我們觀察無線訊號的衰減特性及一般三角定位法的缺點，並提出一個簡化三角定位法以及兩個路徑規劃法。簡化三角定位法捨去一般三角定位法中要事先求取距離與訊號強度的關係，並且不需要大量且複雜的運算，縮短前置作業的處理時間，並幫助我們定位出基座的位置。路徑規劃法輔助我們在執行定位任務時，讓機器人可以抵達基座附近以及取得精準度較高的訊號強度資料，減少定位上的誤差。

The rise of the digital home and intelligent robot, the combination of the two has already become the future trends. The autonomous robotic vacuum cleaner is the most famous intelligent robot to serve indoor at present. The robot will return to the home base at the end of a cycling cycle or when its battery is running low. The robot communicated with home base by infrared sensor in general. In this paper, we use the Radio frequency identification (RFID) to replace the infrared sensor, because the radio propagation is not constrained by line of sight and the read range is longer than infrared ray. We observe the decrement in signal strength and modify the drawback of the general trilateration. We propose a simplified localization algorithm and two motion planning algorithms. The simplified localization algorithm replace general trilateration and never need to calculate the relationship formula between signal strengths and distances in advance, shorten the pre-processing time and reduce the computational load, help us to find position of the home base. The motion planning algorithms make robot reach the position nearby home base successfully and receive more precise signal data to reduce location error.

1 背景 12
1.1 無線射頻識別 12
1.1.1 標籤 13
1.1.2 讀取器 14
1.1.3 中介軟體 14
1.2 智慧型機器人 14
1.3 研究動機及目的 15
1.4 論文架構 16
2 文獻探討 17
2.1 無線定位系統 17
2.1.1 全球定位系統 17
2.1.2 紅外線(Infrared, IR)與超音波(Ultra Sonic) 17
2.1.3 超寬頻(Ultra Wide Band, UWB) 18
2.1.4 WiFi 18
2.2 無線定位方法之類型 18
2.3 無線定位技術簡介 19
2.3.1 偵測率(Detection Rate) 19
2.3.2 訊號強度(Signal Strength) 20
2.3.3 訊號抵達時間(Time of Arrival) 22
3 定位計算及路徑規劃 24
3.1 簡化三角定位法 26
3.2 訊號過濾 27
3.3 機器人移動路徑規劃法 27
3.3.1 等距移動法 28
3.3.2 變距移動法 31
3.4 實際狀況 35
4 效能評估 36
4.1 實驗環境平台 36
4.2 完成任務後，與目標物的平均距離 38
4.3 完成任務後，行走路徑的平均長度 38
4.4 行走過程中的定位誤差變化 39
5 結論 41

[1] D. Hahnel, W. Burgard, D. Fox, K. Fishkin, and M. Philipose, "Mapping and localization with RFID technology," IEEE International Conference on Robotics and Automation, vol. 1, pp. 1015-1020, 2004.
[2] iRobot, "http://www.irobot.com,"
[3] Y. Zhao, Y. Liu, and L. M. Ni, "VIRE: active RFID-based localization using virtual reference elimination," International Conference on Parallel Processing, pp. 56-63, 2007.
[4] C. Hoene and J. Willmann, "Four-way TOA and software-based trilateration of IEEE 802.11 devices," IEEE 19th International Symposium on Personal, Indoor and Mobile Radio Communications, pp. 1-6, 2008.
[5] H.-H. Lin, C.-C. Tsai, and H.-Y. Chang, "Global posture estimation of a guide robot using RFID and laser scanning measurements," 33rd Annual
Conference of the IEEE Industrial Electronics Society, pp. 483-488, 2007.
[6] J.-C. You, Y.-L. Yeh, and G.-J. Jong, "Mobile RFID integration home-care system for wireless network," International Conference on Intelligent Information Hiding and Multimedia Signal Processing, pp. 1025-1028, 2008.
[7] S. Schaefer, Secure trade lane: a sensor network solution for more predictable and more secure container shipments. New York, NY, USA: ACM, 2006.
[8] J. Wisanmongkol, T. Sanpechuda, and U. Ketporm, "Automatic vehicle identifcation with sensor-integrated RFID system," 5th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, vol. 2, pp. 757-760, 2008.
[9] P. Jones, "Networked RFID for use in the food chain," IEEE Conference on Emerging Technologies and Factory Automation, pp. 1119-1124, 2006.
[10] B. Lee and H. Kim, "Ubiquitous RFID based medical application and the security architecture in smart hospitals," International Conference on Convergence Information Technology, pp. 2359-2362, 2007.
[11] T. Mori, C. Siridanupath, H. Noguchi, and T. Sato, "Active RFID-based object management system in sensor-embedded environment," Future Generation Communication and Networking, vol. 2, pp. 25-30, 2007.
[12] S. Gezici, Z. Tian, G. B. Giannakis, H. Kobayashi, A. F. Molisch, H. V. Poor, and Z. Sahinoglu, "Localization via ultra-wideband radios: a look at positioning aspects for future sensor networks," IEEE Signal Processing Magazine, vol. 22, no. 4, pp. 70-84, 2005.
[13] C.-H. Lim, Y. Wan, B.-P. Ng, and C.-M. See, "A real-time indoor WiFi localization system utilizing smart antennas," IEEE Transactions on Consumer Electronics, vol. 53, pp. 618-622, 2007.
[14] L. M. Ni, Y. Liu, Y. C. Lau, and A. P. Patil, "LANDMARC: indoor loca-
tion sensing using active RFID," Proceedings of the First IEEE International Conference on Pervasive Computing and Communications, pp. 407-415, 2003.
[15] P. Bahl and V. N. Padmanabhan, "RADAR: an in-building RF-based user location and tracking system," Proceedings of the Nineteenth Annual Joint Conference of the IEEE Computer and Communications Societies, vol. 2, pp. 775-784 , 2000.
[16] J. Rencheng, W. Hongbin, P. Bo, and G. Ning, "Research on RSSI-based localization in wireless sensor networks," 4th International Conference on Wireless Communications, Networking and Mobile Computing, pp. 1-4, 2008.
[17] J. Kim, S. Kim, D. Kim, W. Lee, and E. Kim, "Low-energy localized clustering: an adaptive cluster radius configuration scheme for topology control in wireless sensor networks," IEEE 61st Vehicular Technology Conference, vol. 4, pp. 2546-2550, 2005.
[18] D. Zhang, J. Ma, Q. Chen, and L. M. Ni, "An RF-based system for tracking transceiver-free objects," Fifth Annual IEEE International Conference on Pervasive Computing and Communications, pp. 135-144, 2007.
[19] Y. Liu, L. Chen, J. Pei, Q. Chen, and Y. Zhao, "Mining frequent trajectory patterns for activity monitoring using radio frequency tag arrays," Fifth Annual IEEE International Conference on Pervasive Computing and Communications, pp. 37-46, 2007.
[20] J. Bardwell, "Converting signal strength percentage to dBm values,"
http://www.wildpackets.com/elements/whitepapers/ConvertingSignalStrength.pdf, 2002.
[21] K. Pahlavan and A. H. Levesque, Wireless Information Networks. New York Wiley, 1995.
[22] S. T. Corp, "http://www.syris.com/,"