NDLI: Mobile robot self localization based on multi-antenna-RFID reader and IC tag textile

Content Provider	IEEE Xplore Digital Library
Author	Takahashi, Y. Ii, Y. Mi Jian Wang Jun Maeda, Y. Takeda, M. Nakamura, R. Miyoshi, H. Takeuchi, H. Yamashita, Y. Sano, H. Masuda, A.
Copyright Year	2013
Description	Author affiliation: Ind. Technol. Center of Fukui Prefecture, Fukui, Japan (Sano, H.; Masuda, A.) \|\| Fac. of Eng., Univ. of Fukui, Fukui, Japan (Ii, Y.) \|\| Grad. Sch. of Eng., Univ. of Fukui, Fukui, Japan (Takahashi, Y.; Maeda, Y.) \|\| Fac. of Eng., Univ. of Beijing Inf. Sci. & Technol., Beijing, China (Mi Jian; Wang Jun) \|\| Art Finex Co., Ltd., Fukui, Japan (Nakamura, R.; Miyoshi, H.) \|\| I.F.Sangyo Co., Ltd., Fukui, Japan (Takeda, M.) \|\| Univ. of Fukui Hosp., Fukui, Japan (Yamashita, Y.) \|\| UTIC Co., Ltd., Fukui, Japan (Takeuchi, H.)
Abstract	This paper presents a self-localization system using multiple RFID reader antennas and High-Frequency RFID-tag textile floor for an indoor autonomous mobile robot. Conventional self-localization systems often use vision sensors and/or laser range finders and an environment model. It is difficult to estimate the exact global location if the environment has number of places that have similar shape boundaries or small number of landmarks to localize. It tends to take a long time to recover the self-localization estimation if it goes wrong at once. Vision sensors work hard in dark lighting condition. Laser range finder often fails to detect distance to a transparent wall. In addition, the self-localization becomes unstable if obstacles occlude landmarks that are important to estimate position of the robot. Door opening and closing condition affects the self-localization performance. Self-localization system based on reading RFID-tags on floor is robust against lighting condition, obstacles, furniture and doors conditions in the environment. Even if the arrangement of the obstacles or furniture in the environment is changed, it is not necessary to update the map for the self-localization. It can localize itself immediately and is free from well-known kidnapped robot problem because the RFID-tags give global position information. Conventional self-localization systems based on reading RFID-tags on floor often use only one RFID reader antenna and have difficulty of orientation estimation. We have developed a self-localization system using multiple RFID reader antennas and High-Frequency RFID-tag textile floor for an indoor autonomous mobile robot. Experimental results show the validity of the proposed methods.
Starting Page	106
Ending Page	112
File Size	1963689
Page Count	7
File Format	PDF
ISBN	9781479923687
DOI	10.1109/ARSO.2013.6705514
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-07
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Integrated circuits Estimation Mobile robots Antennas Radiofrequency identification Textiles
Content Type	Text
Resource Type	Article

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