Autonomous Navigation System for Mobile Robot Using Randomly Distributed Passive RFID Tags
Summary :
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 turning radius of the robot, can cause the robot to enter a zigzag exploration path and miss the goal. In RFID-based navigation, the key is to reduce both the number of RFID tags and the localization error for practical use in a large space. To cope with these, we utilized the Read time, which measures the reading time of each RFID 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 were achieved with 102 RFID tags in the area of 4.2 m by 6.2 m. Our proposed method is verified with the path trajectories produced during navigation compared with conventional approaches.
- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E93-A No.4 pp.711-719
- Publication Date
- 2010/04/01
- Publicized
- Online ISSN
- 1745-1337
- DOI
- 10.1587/transfun.E93.A.711
- Type of Manuscript
- Special Section PAPER (Special Section on Intelligent Transport Systems)
- Category
Authors
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Sunhong PARK, Shuji HASHIMOTO, "Autonomous Navigation System for Mobile Robot Using Randomly Distributed Passive RFID Tags" in IEICE TRANSACTIONS on Fundamentals,
vol. E93-A, no. 4, pp. 711-719, April 2010, doi: 10.1587/transfun.E93.A.711.
Abstract: 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 turning radius of the robot, can cause the robot to enter a zigzag exploration path and miss the goal. In RFID-based navigation, the key is to reduce both the number of RFID tags and the localization error for practical use in a large space. To cope with these, we utilized the Read time, which measures the reading time of each RFID 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 were achieved with 102 RFID tags in the area of 4.2 m by 6.2 m. Our proposed method is verified with the path trajectories produced during navigation compared with conventional approaches.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.E93.A.711/_p
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@ARTICLE{e93-a_4_711,
author={Sunhong PARK, Shuji HASHIMOTO, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Autonomous Navigation System for Mobile Robot Using Randomly Distributed Passive RFID Tags},
year={2010},
volume={E93-A},
number={4},
pages={711-719},
abstract={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 turning radius of the robot, can cause the robot to enter a zigzag exploration path and miss the goal. In RFID-based navigation, the key is to reduce both the number of RFID tags and the localization error for practical use in a large space. To cope with these, we utilized the Read time, which measures the reading time of each RFID 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 were achieved with 102 RFID tags in the area of 4.2 m by 6.2 m. Our proposed method is verified with the path trajectories produced during navigation compared with conventional approaches.},
keywords={},
doi={10.1587/transfun.E93.A.711},
ISSN={1745-1337},
month={April},}
Copy
TY - JOUR
TI - Autonomous Navigation System for Mobile Robot Using Randomly Distributed Passive RFID Tags
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 711
EP - 719
AU - Sunhong PARK
AU - Shuji HASHIMOTO
PY - 2010
DO - 10.1587/transfun.E93.A.711
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E93-A
IS - 4
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - April 2010
AB - 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 turning radius of the robot, can cause the robot to enter a zigzag exploration path and miss the goal. In RFID-based navigation, the key is to reduce both the number of RFID tags and the localization error for practical use in a large space. To cope with these, we utilized the Read time, which measures the reading time of each RFID 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 were achieved with 102 RFID tags in the area of 4.2 m by 6.2 m. Our proposed method is verified with the path trajectories produced during navigation compared with conventional approaches.
ER -
English
