A Hierarchical Algorithm for Indoor Mobile Robot Localization Using RFID Sensor Fusion

作者：Choi Byoung Suk^*; Lee Joon Woo; Lee Ju Jang; Park Kyoung Taik

来源：IEEE Transactions on Industrial Electronics, 2011, 58(6): 2226-2235.

DOI：10.1109/TIE.2011.2109330

• Localization
• mobile robot
• obstacle estimation
• radio-frequency identification (RFID)
• sensor fusion

This paper addresses a radio-frequency identification (RFID)-based mobile robot localization which adopts RFID tags distributed in a space. Existing stand-alone RFID systems for mobile robot localization are hampered by many uncertainties. Therefore, we propose a novel algorithm that improves the localization by fusing an RFID system with an ultrasonic sensor system. The proposed system partially removes the uncertainties of RFID systems by using distance data obtained from ultrasonic sensors. We define a global position estimation (GPE) process using an RFID system and a local environment cognition (LEC) process using ultrasonic sensors. Then, a hierarchical localization algorithm is proposed to estimate the position of the mobile robot using both GPE and LEC. Finally, the utility of the proposed algorithm is demonstrated through experiments.

• 出版日期2011-6