Proceedings of the IEEK Conference (대한전자공학회:학술대회논문집)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Mobile Robot Initial Velocity Estimation in Passive RFID Environment

수동 RFID 환경에서의 이동로봇의 초기 속도 추정

  • Kim, Sung-Bok (Department of Digital Information Engineering Hankuk University of Foreign Studies) ;
  • Lee, Sang-Hyup (Department of Digital Information Engineering Hankuk University of Foreign Studies) ;
  • Kim, Hak-Hyun (Department of Digital Information Engineering Hankuk University of Foreign Studies)
  • 김성복 (한국외국어대학교 디지털정보공학부) ;
  • 이상협 (한국외국어대학교 디지털정보공학부) ;
  • 김학현 (한국외국어대학교 디지털정보공학부)
  • Published : 2008.06.18
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Abstract

This paper presents the mobile robot initial velocity estimation using spatial/temporal information from passive RFID system. A mobile robot is traveling along a sequence of line segments, each at a constant velocity, and the number of passive tags sensed at every sampling instant is at most one. To simplify the problem, a mobile robot is commanded to traverse two passive tags with steering angle unchanged. The 6th order polynomial equation for the mobile robot initial velocity estimation is obtained, along with some discussion on resolving the multiplicity of solutions.

Keywords