Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 56, Issue 7, Pages 2366-2373Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2009.2013690
Keywords
Autonomous mobile robot; localization; navigation; passive radio-frequency identification (RFID); pose estimation
Categories
Funding
- Gifu Prefecture
- Global COE (Centers of Excellence) Program
- Global Robot Academia, Waseda University
- Strategic Development of Advanced Robotics Elemental Technologies [NEDO: 06002090]
- Waseda University [200713-168]
Ask authors/readers for more resources
This paper proposes an efficient method for localization and pose estimation for mobile robot navigation using passive radio-frequency identification (RFID). We assume that the robot is able to identify IC tags and measure the robot's pose based on the relation between the previous and current location according to the IC tags. However, there arises the problem of uncertainty of location due to the nature of the antenna and IC tags. In other words, an error is always present which is relative to the sensing area of the antenna. Many researches have used external sensors in order to reduce the location errors, with few researches presented involving purely RFID driven systems. Our proposed algorithm that uses only passive RFID is able to estimate the robot's location and orientation more precisely by using trigonometric functions and the IC tags' Cartesian coordinates in a regular gridlike pattern. The experimental results show that the proposed method effectively estimates both the location and the pose of a mobile robot during navigation.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available