中文摘要：

针对户外轮式移动机器人传统里程计由于轮子打滑与累积误差等导致里程准确度降低的缺陷，提出了一种利用磁导航系统和RFID技术相结合来测量里程的方法。该方法基于机器人磁导航系统，通过相邻磁条间距获得相邻磁条间磁场间隙，根据磁传感器检测到无磁场区域的次数，计算出机器人里程，同时通过机器人前进线路上RFID标签对当前里程进行误差修正。最后，设计了系统软硬件的整体架构和主要功能模块．实验结果验证了该里程检测方法的可行性和有效性。

英文摘要：

To overcome the defects in traditional speedometer of wheeled autonomous mobile robot, such as wheel slipping, lower accuracy of the data with the accumulalion of errors, this paper proposes a new method of delectiug mileage for wheeled autonomous mobile robot based on magnetic navigation system and RFID lechuology, in the＋ establishment of magnetic navigation system, this method is implemente, d. The method is to control the gait of laying magnetic markers and get the interval between the magnetic fieht of two neighboring magnetic markers, and then record the counts of not detecting the magnetic signal as wheeled autonomous mobile robot moves, it also combines the Ienglh of the gap among laying magnetic markers and modification value offered by RFID. Finally, the structure and the sofiware and hardware design and implementation of main function modules in Ihe system are given in detail, and the experiment results show that the system is effective and reliable.