A hierarchical algorithm for indoor mobile robot localization using RFID sensor fusion

Byoung Suk Choi; Joon Woo Lee; Ju Jang Lee; Kyoung Taik Park

doi:10.1109/TIE.2011.2109330

A hierarchical algorithm for indoor mobile robot localization using RFID sensor fusion

Byoung Suk Choi, Joon Woo Lee, Ju Jang Lee, Kyoung Taik Park

Department of Electrical Engineering

Research output: Contribution to journal › Article › peer-review

170 Scopus citations

Abstract

This paper addresses a radio-frequency identification (RFID)-based mobile robot localization which adopts RFID tags distributed in a space. Existing stand-alone RFID systems for mobile robot localization are hampered by many uncertainties. Therefore, we propose a novel algorithm that improves the localization by fusing an RFID system with an ultrasonic sensor system. The proposed system partially removes the uncertainties of RFID systems by using distance data obtained from ultrasonic sensors. We define a global position estimation (GPE) process using an RFID system and a local environment cognition (LEC) process using ultrasonic sensors. Then, a hierarchical localization algorithm is proposed to estimate the position of the mobile robot using both GPE and LEC. Finally, the utility of the proposed algorithm is demonstrated through experiments.

Original language	English
Article number	5704578
Pages (from-to)	2226-2235
Number of pages	10
Journal	IEEE Transactions on Industrial Electronics
Volume	58
Issue number	6
DOIs	https://doi.org/10.1109/TIE.2011.2109330
State	Published - Jun 2011

Keywords

Localization
mobile robot
obstacle estimation
radio-frequency identification (RFID)
sensor fusion

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10.1109/TIE.2011.2109330

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title = "A hierarchical algorithm for indoor mobile robot localization using RFID sensor fusion",

abstract = "This paper addresses a radio-frequency identification (RFID)-based mobile robot localization which adopts RFID tags distributed in a space. Existing stand-alone RFID systems for mobile robot localization are hampered by many uncertainties. Therefore, we propose a novel algorithm that improves the localization by fusing an RFID system with an ultrasonic sensor system. The proposed system partially removes the uncertainties of RFID systems by using distance data obtained from ultrasonic sensors. We define a global position estimation (GPE) process using an RFID system and a local environment cognition (LEC) process using ultrasonic sensors. Then, a hierarchical localization algorithm is proposed to estimate the position of the mobile robot using both GPE and LEC. Finally, the utility of the proposed algorithm is demonstrated through experiments.",

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AB - This paper addresses a radio-frequency identification (RFID)-based mobile robot localization which adopts RFID tags distributed in a space. Existing stand-alone RFID systems for mobile robot localization are hampered by many uncertainties. Therefore, we propose a novel algorithm that improves the localization by fusing an RFID system with an ultrasonic sensor system. The proposed system partially removes the uncertainties of RFID systems by using distance data obtained from ultrasonic sensors. We define a global position estimation (GPE) process using an RFID system and a local environment cognition (LEC) process using ultrasonic sensors. Then, a hierarchical localization algorithm is proposed to estimate the position of the mobile robot using both GPE and LEC. Finally, the utility of the proposed algorithm is demonstrated through experiments.

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A hierarchical algorithm for indoor mobile robot localization using RFID sensor fusion

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