本文研究是利用RFID技術作為機器人室內定位之用。研究首先考量的就是定位功能，所採用的方法是利用RSSI(Received Signal Strength Indicator)及LQI(Link Quality Indication)定位方法。RSSI與LQI定位系統是利用無線訊號強度來建立場強環境圖，將發射端與接收端所收到的訊號強度比較去計算出使用者之正確位置。本論文先對RSSI與LQI的定位法則進行研究，建置好定位環境系統後，再加入行動機器人驗證此系統可行性。一維定位加入機器人實驗結果，精密度為10cm，平均正確率為97.23%。二維定位在60cm x 60cm區間，精密度10cm x 10cm，定位平均正確率為79.73%，加入機器人做行動追蹤觀察定位，每個位置座標估測定位觀察，結果總平均誤差為14.16cm。

This thesis explores the merits of the indoor positioning system using RFID technology for mobile robot. The study first develops the indoor positioning function by RSSI and LQI method to determine the location of the user. The RSSI and LQI based indoor positioning system employs the wireless signal intensity to build the intensity distribution map and compares the signal intensity of the transmitters obtained by the receivers to determine the correct location of the users. The RSSI and LQI based indoor positioning system environmental location map are built beforehand .Then a mobile robot is used to test and verify the validity of the method. Validation results show that the precision of the positioning system in one-dimensional is 10 cm and the average accuracy rate is 97.23%.The precision of the positioning system in two-dimensional is 10cm x10cm and the average accuracy rate is 79.73%.Finally,the average error of the robot tracking in two-dimensional is 14.16cm.

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