NDLI: A new tag arrangement pattern for a differential driving mobile robot based on RFID system

Content Provider	IEEE Xplore Digital Library
Author	Sun Sin Han Deok Kwon Kim Jang Myung Lee
Copyright Year	2007
Description	Author affiliation: Pusan Univ., Busan (Sun Sin Han; Deok Kwon Kim; Jang Myung Lee)
Abstract	This paper presents an efficient localization scheme for an indoor mobile robot using RFID systems. The mobile robot carries an RFID reader at the bottom of the chassis, which reads the RFID tags on the floor to localize the mobile robot. Each of the RFID tags store its own absolute position which is used to calculate the position, orientation and velocity of the mobile robot. However, a localization system based on RFID technology inevitably suffers from an estimation error. In this paper, a new triangular pattern of arranging the RFID tags on the floor has been proposed to reduce the estimation error of the conventional square pattern. Also, the motion continuity property of the differential driving mobile robot has been utilized to improve the localization accuracy of the mobile robot. According to the conventional approach, two readers are necessary to identify the orientation of the mobile robot. Therefore, this new approach, based on the motion continuity property of the differential driving mobile robot, provides a cheap and fast estimation of the orientation. The proposed algorithms used to raise the accuracy of the robot localization are successfully verified through experiments.
Starting Page	1228
Ending Page	1233
File Size	986076
Page Count	6
File Format	PDF
ISBN	9788995003862
DOI	10.1109/ICCAS.2007.4406522
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-17
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	ICASE
Subject Keyword	Estimation error Motion estimation RFID Mobile robots RFID tags Passive RFID tags Orbital robotics Space technology Motion continuity Automatic control Robot sensing systems Mobile robot Localization Radiofrequency identification
Content Type	Text
Resource Type	Article

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