臺灣博碩士論文加值系統

近年來，無線射頻與影像處理系統技術被廣泛應用於智慧住宅與大型醫療院所建置之整合的室內即時定位系統。本文提出新的具影像辨識與模糊類神經網路之RFID室內定位架構系統，解決智慧型機器人之室內即時定位問題，該方法建立於系統之接收訊號強度判斷基礎上，系統架構採用2.4GHz主動式RFID元件，該系統具備讀寫器與標籤的長距離傳輸優點，以及搭配模糊類神經網路控制器的強健性與適應性，並於範圍面積大的室內進行定位，在此將提出的影像辨識搭配模糊類神經RFID方法用以解決一系列的智慧型機器人之室內即時定位問題，研究工作建構於兩種架構上，透過實驗結果成功的表現可以得知該系統具有很好的精確度以及具備適應性，在此可以提供智慧型充電機器人與家庭保健輪椅機器人定位與導航的方式，該架構同時可以降低系統成本與減少系統運算複雜性。

In recent years, Radio Frequency Identification system (RFID) and image processing system technology has been widely applied to intelligent houses and large medical institutions to build real-time positioning system. This dissertation proposes a fuzzy neural network based on image processing system for real time navigating and RFID indoor positioning the intelligent robots. The technology is based on received signal strength indication method. The proposed system structure includes 2.4GHz active RFID devices and camera. Since active RFID devices have a prominent capability on long distance communication, it is the reason why we apply to the localization for a intelligent mobile robot. The fuzzy neural network controller provides robustness and adaptive rule for environment. Further, we solve the problem of real-time indoor positioning for intelligent robot with RFID-based fuzzy neural network. In our research work, two structures developed the successful experiment results show that the proposed system architecture and positioning system provides very good accuracy. In the meantime, it makes intelligent self-charging robot and home health care wheelchair robot positioning system available for navigation and guidance. The proposed indoor localization system also has two advantages of cost reduction and simple computation.

論文口試委員審定書 i
授權書 i
中文摘要 i
英文摘要 ii
Acknowledgement i
Contents ii
List of tables iv
List of figures v
Chapter 1 Introduction 7
1.1 Motivation 7
1.2 Literature review 7
1.3 The framework of dissertation 11
Chapter 2 Framework of omni-directional mobile robot 12
2.1 Overview 12
2.2 Hardware components 13
2.3 Motion control 17
2.4 Conclusions 19
Chapter 3 Wireless localization technique base on fuzzy neural network 20
3.1 Overview 20
3.2 Wireless localization technique 20
3.3 Fuzzy neural network structure 30
3.4 Conclusions 36
Chapter 4 Experimental result 37
4.1 Overview 37
4.2 RSSI correspond to distance database construction 38
4.3 RSSI of localization measurement experiment 38
4.4 Moving localization measurement experiment 39
4.5 Fuzzy neural network based RFID positioning and navigation method for mobile robots 40
4.6 Adaptive RFID indoor positioning technology for wheelchair home health care robot 55
4.7 Conclusions 68
Chapter 5 Conclusions 70
References 72

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