Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

The Navigation Algorithm of Mobile Robot based on Passive RFID Tag

수동 RFID Tag를 기반으로 한 이동 로봇의 경로 계획 알고리즘

  • Published : 2009.08.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, a navigation algorithm is proposed using RFID tags in indoor environments. Firstly, a stochastic sensor model of RFID is derived and the design factors including the maximum identifiable distance, the identification direction and the read success rate are obtained through experiments. The obstacle avoidance algorithm is developed with consideration of those factors for a variety of RFID antenna configurations and different indoor environments. The algorithm is tested by computer simulations and implemented on a mobile robot.

Keywords

References

  1. Hahnel, D., Burgard, W., Fox, D., Fishkin, K. and Philipose, M., "Mapping and Localization with RFID Technology," Proceedings of IEEE International Conference on Robotics and Automation, Vol. 1, pp. 1015-1020, 2004
  2. Siegqart, R. and Nourbakhsh, I. R., "Introduction to Autonomous Mobile Robots," The MIT Press, pp. 272-290, 2004
  3. Kulyukin, V. V., Gharpure, C., Nicholson, J. and Pavithran, S., "RFID in Robot- Assisted Indoor Navigation for the Visually Impaired," Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, pp. 1979-1984, 2004
  4. Finkenzeller, K., "Radio-Frequency Identification Fundamentals and Application," John Wiley & Sons Ltd., pp. 150-161, 2000
  5. Moon, S.-W., Ji, Y.-K. and Park, J.-H., "An Intelligent Estimation Method of Robot-location based on Passive RFID Tags in Static Position," Journal of Control, Automation, and Systems Engineering, Vol. 12, No. 1, pp. 9-14, 2006
  6. Won, J.-U. and Lee, K.-S., "Obstacle Avoidance of an Autonomous Mobile Robot," IEEK(The Institute of Electronics Engineers of Korea) Automatic Control Spring Conference , Vol. 1, pp. 777-781, 1994
  7. Kim, W., "A Mobile Robot System Based on RFID Environment," Journal of Korean Institute of Information Technology, Vol. 5, No. 4, pp. 25-30, 2007
  8. Won, D., Yang, G.-W., Choi, N.-S., Park, S.-D. and Lee H., "A Probabilistic Approach for Mobile Robot Localization under RFID Tag Infrastructures," Proc. of KSPE Spring Conference, pp. 1034-1039, 2005