Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2005.10a
- /
- Pages.901-905
- /
- 2005
- /
- 2005-8446(pISSN)
The optimal arrangement of RFID tags for mobile robot's position estimation
이동 로봇의 위치 추정을 위한 RFID Tag의 효율적 배치
Abstract
It is very important to arrange landmarks when a mobile robot needs to measure its own location. So, it has been discussed often how to arrange landmarks in the optimal way until now. We, there, chose the RFID (Radio frequency Identification) tags as landmarks which can be observed by a mobile robot, and demonstrated the possibility of the optimal arrangement of them. For this work first, we defined the optimization problem and its parameters for the arrangement of tags. Second, we proposed the algorithm which can be applied to the optimization problem. Finally we could obtain closely optimal and practical arrangement with the minimum number of landmarks which satisfied the necessary condition by experimentation.