Autonomous Navigation System for Mobile Robot Using Randomly Distributed Passive RFID Tags

作者：Park Sunhong^*; Hashimoto Shuji

来源：IEICE Transactions on Fundamentals of Electronics Communications and Computer Sciences, 2010, E93A(4): 711-719.

DOI：10.1587/transfun.E93.A.711

• autonomous navigation
• read time
• localization
• passive RFID
• mobile robot

This paper presents an autonomous navigation system for a mobile robot using randomly distributed passive RFID tags In the case of randomly distributed RFID. tags. it is difficult to provide the precise location of the robot especially in the area of sparse RFID tag distribution This. combined with the wide turn us radius of the robot. can cause the robot to enter a zigzag exploration path and miss the goal In RPM-based navigation. the key is to reduce both the number of RHO tags and the localization error for practical use in a large space To cope with these, we utilized the Read tune, which measures the reading time of each RHO tag With this. we could estimate accurately the localization and orientation without using any external sensors or increasing the RFID tags The average estimation errors of 7 8 cm in localization and 11 degrees in orientation woe achieved with 102 RFID tails in the area of 4 2 in by 6 2 m Our proposed method is yen fled with the path trajectories produced dining navigation compared with conventional approaches

• 出版日期2010-4