隨著數位家庭及智慧型機器人的興起，兩者的結合已經成為未來的趨勢。吸塵器機器人即是目前最有名的家庭智慧型服務機器人。當機器人完成任務或電力衰弱時，將會返回基座充電。而機器人在通訊設計上，一般使用紅外線與基座來做溝通。在本篇論文中，我們將使用無線射頻識別（Radio frequency identification, RFID）來取代紅外線，因為無線電在傳播上有不受視線傳播拘束及傳播範圍較廣的優點。我們觀察無線訊號的衰減特性及一般三角定位法的缺點，並提出一個簡化三角定位法以及兩個路徑規劃法。簡化三角定位法捨去一般三角定位法中要事先求取距離與訊號強度的關係，並且不需要大量且複雜的運算，縮短前置作業的處理時間，並幫助我們定位出基座的位置。路徑規劃法輔助我們在執行定位任務時，讓機器人可以抵達基座附近以及取得精準度較高的訊號強度資料，減少定位上的誤差。

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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