Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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New Algorithm of Localization Using Odometry and RFID System

오도메트리 정보와 RFID 시스템을 이용한 이동 로봇 위치 인식 방법

  • Lee, Gyu-Min (Department of Electronic and Electrical Engineering, Pohang University of Science and Technology) ;
  • Chang, Moon-Soo (Department of Electronic and Electrical Engineering, Pohang University of Science and Technology) ;
  • Park, Poo-Gyeon (Department of Electronic and Electrical Engineering, Pohang University of Science and Technology)
  • 이규민 (포항공과대학교 전자전기공학과) ;
  • 장문수 (포항공과대학교 전자전기공학과) ;
  • 박부견 (포항공과대학교 전자전기공학과)
  • Published : 2008.10.31
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Abstract

Localization and its applications are very important area of the mobile robot technology. Especially, accurate localization is needed when we move the mobile robot to the goal position. In indoor cases, Global Positioning System(GPS) is not suitable but Radio Frequency Identification(RFID) technology can provide position data to the robot. A proposed algorithm in this paper uses not only odometry data but also RFID data to improve estimation of true position of the robot with the particle filtering.

Keywords