전자공학회논문지 IE

대한전자공학회 (The Institute of Electronics and Information Engineers)
권호 표지

이동로봇을 위한 RFID Smart Floor

RFID Smart Floor for Mobile Robot

  • 강수혁 (경희대학교 전자전파공학과) ;
  • 김용호 (경희대학교 전자전파공학과) ;
  • 문병준 (대덕대학교 자동차학부) ;
  • 김동한 (경희대학교 전자전파공학과)
  • 투고 : 2011.11.11
  • 발행 : 2011.11.25
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초록

본 논문에서는 Smart Floor라는 새로운 개념의 정보공간을 제안한다. Smart Floor는 이동로봇의 경로유도에 필요한 정보를 저장하고 있는 공간으로, 이동로봇은 외부의 도움 없이 목표위치에 도달할 수 있다. 이를 위하여 RFID 태그 포장을 통하여 Smart Floor를 구현하고, UHF(Ultra High Frequency) 대역의 수동 RFID 시스템을 장착한 이동로봇을 제작하였다. Smart Floor에 저장되는 정보는 Q학습을 통해 미리 시뮬레이션 된 값으로, 임의의 시작위치에서 목표위치까지 가는데 필요한 방향값과 Q값이다. 본 연구는 Smart Floor의 구성과 정보를 이용하는 이동로봇 어플리케이션 개발에 도움을 줄 것이다.

This paper proposed a new concept of information space called Smart Floor. Smart Floor is an intelligent space where a mobile robot can read and write specific information through Radio Frequency IDentification (RFID) tags which are mounted on Smart Floor to drive its goal position. RFID tag packaging technology is described for building Smart Floor. Also a mobile robot equipped passive RFID System with ultra high frequency (UHF) bandwidth has developed. The information that consists of an absolute position in the Smart Floor and desired direction saved on RFID tags is a simulated Q-value based on Q-learning algorithm. Proposed Smart Floor will be a proper method to communicate between space and robot.

키워드

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