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http://dx.doi.org/10.5302/J.ICROS.2006.12.1.009

An Intelligent Estimation Method of Robot-location based on Passive RFID Tags in Static Position  

Moon Seung-Wuk (한양대학교 기계공학부)
Ji Yong-Kwan (한양대학교 기계공학부)
Park Jahng-Hyon (한양대학교 기계공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.1, 2006 , pp. 9-14 More about this Journal
Abstract
This paper presents methods of robot localization using recent radio frequency identification technology. If the absolute position and orientation of a tag are given in an indoor environment where RFID tags are installed, a robot can estimate its location using the relationship of the identified tag and the robot in a relative coordinate. To derive this relationship, we propose three estimation techniques using a model of a RFID reader, the direction of identification and the detection range. In this algorithm, a suitable estimation method is selected out of the three proposed techniques depending on the situations and trajectory of robot in the detection range. Simulation and experimental results show that the proposed methods can provide good performance for localization.
Keywords
mobile robot; passive RFID tag; location estimation;
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