| Summary: | 碩士 === 國立臺灣科技大學 === 資訊工程系 === 98 === 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.
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