基于RFID的移动机器人巡逻路径优化研究

Research on Patrol Path Optimization of Mobile Robot Based on RFID

摘要:

针对移动机器人在大范围环境中的巡逻路径优化问题,提出一种基于RFID信息节点导引方法的路径和时间优化策略;研究了在一由实际环境抽象得出的拓扑地图环境下,使用RFID标签来标记环境中的关键位置,例如走廊,交叉点,拐角等,并且利用标签中储存的导航指令来指导移动机器人的行动;将机器人分为3路巡逻,优化得出巡逻总路程最短且历经信息节点数均衡的路径;设定机器人在节点的停留时间,研究了机器人在一限定时间内巡逻完所有节点的分组及路径优化方法;为大范围布置RFID信息节点导引机器人行动的环境下,提供了一种巡逻路径优化方案。

Abstract:

Aiming at the problem of path optimization of mobile robot in a wide range of environments, this paper proposed a route and time optimization strategy based on RFID nodes’ navigation instruction. In a topological map environment, using the RFID information nodes to label critical locations such as corridors, intersections, corners and so on in the environment and guide the robot with navigation instruction. The robots are divided into three patrols to solve the total distance of the shortest and balanced route. Set the robot at the node's dwell time, study the path optimization method for traversal all nodes at a given time. This study provides a path optimization scheme for large-scale placement of RFID nodes to guide robots.