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Development of Map Building Algorithm for Mobile Robot by Using RFID  

Kim, Si-Seup (전남대학교 기계공학과 대학원)
Seon, Jeong-An (웅진에너지(주))
Kee, Chang-Doo (전남대학교 기계시스템공학부)
Publication Information
Journal of the Korean Society of Manufacturing Technology Engineers / v.20, no.2, 2011 , pp. 133-138 More about this Journal
Abstract
RFID system can be used to improve object recognition, map building and localization for robot area. A novel method of indoor navigation system for a mobile robot is proposed using RFID technology. The mobile robot With a RFID reader and antenna is able to find what obstacles are located where in circumstance and can build the map similar to indoor circumstance by combining RFID information and distance data obtained from sensors. Using the map obtained, the mobile robot can avoid obstacles and finally reach the desired goal by $A^*$ algorithm. 3D map which has the advantage of robot navigation and manipulation is able to be built using z dimension of products. The proposed robot navigation system is proved to apply for SLAM and path planning in unknown circumstance through numerous experiments.
Keywords
Mobile Robot; $A^*$; Map Building; Path Planning; Localization; SLAM(Simultaneous Localization And Mapping); 3D Map; Object Recognition;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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