Localization and map-building of mobile robot based on RFID Sensor fusion system

Byoung Suk Choi; Joon Woo Lee; Ju Jang Lee

doi:10.1109/INDIN.2008.4618134

Localization and map-building of mobile robot based on RFID Sensor fusion system

Byoung Suk Choi, Joon Woo Lee, Ju Jang Lee

Department of Electrical Engineering

Korea Advanced Institute of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

37 Scopus citations

Abstract

In this paper, we propose an improved localization system for an indoor mobile robot using RFID (Radio Frequency IDentification) system and wheel encoders. Nowadays, RFID technology is widely used in the robot field. We investigate recent RFID localization system based on (passive) tag-floor for mobile robot, and analyze the problems and limitation of previous researches. First, RFID and wheel encoder localization system's uncertainty, which may result in inaccurate location data, is modeled. And then, the algorithm for estimating each uncertainty is proposed for localization. Finally, a proposed algorithm successfully demonstrated through simulation experiments conducted under certain assumption.

Original language	English
Title of host publication	Proceedings - IEEE INDIN 2008
Subtitle of host publication	6th IEEE International Conference on Industrial Informatics
Pages	412-417
Number of pages	6
DOIs	https://doi.org/10.1109/INDIN.2008.4618134
State	Published - 2008
Event	IEEE INDIN 2008: 6th IEEE International Conference on Industrial Informatics - Daejeon, Korea, Republic of Duration: 13 Jul 2008 → 16 Jul 2008

Publication series

Name	IEEE International Conference on Industrial Informatics (INDIN)
ISSN (Print)	1935-4576

Conference

Conference	IEEE INDIN 2008: 6th IEEE International Conference on Industrial Informatics
Country/Territory	Korea, Republic of
City	Daejeon
Period	13/07/08 → 16/07/08

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10.1109/INDIN.2008.4618134

Cite this

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title = "Localization and map-building of mobile robot based on RFID Sensor fusion system",

abstract = "In this paper, we propose an improved localization system for an indoor mobile robot using RFID (Radio Frequency IDentification) system and wheel encoders. Nowadays, RFID technology is widely used in the robot field. We investigate recent RFID localization system based on (passive) tag-floor for mobile robot, and analyze the problems and limitation of previous researches. First, RFID and wheel encoder localization system's uncertainty, which may result in inaccurate location data, is modeled. And then, the algorithm for estimating each uncertainty is proposed for localization. Finally, a proposed algorithm successfully demonstrated through simulation experiments conducted under certain assumption.",

author = "Choi, {Byoung Suk} and Lee, {Joon Woo} and Lee, {Ju Jang}",

year = "2008",

doi = "10.1109/INDIN.2008.4618134",

language = "English",

isbn = "9781424421718",

series = "IEEE International Conference on Industrial Informatics (INDIN)",

pages = "412--417",

booktitle = "Proceedings - IEEE INDIN 2008",

note = "IEEE INDIN 2008: 6th IEEE International Conference on Industrial Informatics ; Conference date: 13-07-2008 Through 16-07-2008",

}

Choi, BS, Lee, JW & Lee, JJ 2008, Localization and map-building of mobile robot based on RFID Sensor fusion system. in Proceedings - IEEE INDIN 2008: 6th IEEE International Conference on Industrial Informatics., 4618134, IEEE International Conference on Industrial Informatics (INDIN), pp. 412-417, IEEE INDIN 2008: 6th IEEE International Conference on Industrial Informatics, Daejeon, Korea, Republic of, 13/07/08. https://doi.org/10.1109/INDIN.2008.4618134

Localization and map-building of mobile robot based on RFID Sensor fusion system. / Choi, Byoung Suk; Lee, Joon Woo; Lee, Ju Jang.
Proceedings - IEEE INDIN 2008: 6th IEEE International Conference on Industrial Informatics. 2008. p. 412-417 4618134 (IEEE International Conference on Industrial Informatics (INDIN)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - In this paper, we propose an improved localization system for an indoor mobile robot using RFID (Radio Frequency IDentification) system and wheel encoders. Nowadays, RFID technology is widely used in the robot field. We investigate recent RFID localization system based on (passive) tag-floor for mobile robot, and analyze the problems and limitation of previous researches. First, RFID and wheel encoder localization system's uncertainty, which may result in inaccurate location data, is modeled. And then, the algorithm for estimating each uncertainty is proposed for localization. Finally, a proposed algorithm successfully demonstrated through simulation experiments conducted under certain assumption.

AB - In this paper, we propose an improved localization system for an indoor mobile robot using RFID (Radio Frequency IDentification) system and wheel encoders. Nowadays, RFID technology is widely used in the robot field. We investigate recent RFID localization system based on (passive) tag-floor for mobile robot, and analyze the problems and limitation of previous researches. First, RFID and wheel encoder localization system's uncertainty, which may result in inaccurate location data, is modeled. And then, the algorithm for estimating each uncertainty is proposed for localization. Finally, a proposed algorithm successfully demonstrated through simulation experiments conducted under certain assumption.

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Localization and map-building of mobile robot based on RFID Sensor fusion system

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