"基于RFID的助盲寻物机器人设计与实现V12.doc：路径规划与贪心算法验证"

The document "Design and Implementation of RFID-based Assistive Blind Robot V12" focuses on the development of a mobile robot to assist visually impaired individuals in locating desired objects. The robot is equipped with the UP-Magic2410 as the main control module, runs on embedded Linux operating system, and integrates RFID identification module, ultrasonic distance measurement module, motor drive module, and voice control module using a multi-threaded approach. The RFID module is used to determine the location of the target object, while the ultrasonic module enables obstacle avoidance functionality. The study models the environment using grid mapping, establishing global Cartesian coordinates and local polar coordinates for the robot itself. By adjusting the read-write distance of the RFID module using binary search, the grid where the target object is located is identified. The distance between the target object and the robot serves as the basis for path planning, utilizing a greedy algorithm to progressively approach the target object. Furthermore, the robot is capable of locating target objects in dynamic unknown environments where the exact positions are not predetermined. Simulation testing of the robot validates the efficacy of its path planning algorithm in terms of convergence, robustness, and adaptability to different environments. The key features of the robot include RFID identification, mobile robot functionality, grid mapping, path planning, and the application of the greedy algorithm. In conclusion, the RFID-based assistive blind robot presented in the document provides a practical solution for visually impaired individuals to locate objects efficiently and navigate through various environments with ease. The integration of advanced technologies and algorithms demonstrates the potential for improving the independence and quality of life for the blind community.