| Summary: | 碩士 === 國立交通大學 === 資訊學院碩士在職專班資訊組 === 98 === We consider building an indoor low-cost mobile robot that can be used in home or office applications. Due to the complication and dynamic changing nature of a home/office environment, it is essential for such a robot to be self-guiding in the sense that it is able to determine its current location as well as navigate to locations which it is commanded to. By integrating with wireless communication, indoor localization, and RFID technologies, it is possible to build a self-guiding robot at low cost. We propose an architecture to achieve this goal at centimeter-to-meter level accuracy. A robot can even roam into an area which is new to it. We achieve this goal by allowing a robot to download the indoor map in its vicinity. With WiFi localization, it determines its rough location at meter-level accuracy. From the downloaded map, it then tries to track any RFID tag in the indoor map, on which events it actually localizes itself at centimeter-level accuracy. To verify our results, we demonstrate a prototyping system based on iRobot. Our results have potentially important implications on future digital home/office.
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