Indoor localization for autonomous mobile robot based on passive RFID

In this paper, we propose a novel method using read-time of IC tags to reduce the localization error of an RFID navigation system. In order to reduce localization error, many approaches have been introduced. However, they do not deal with the problems that arise when the antenna can read at most one tag at any given moment. Using this, our passive RFID system is able to estimate the robot's location and orientation more accurately without the use of external sensors or a vision system. The experimental results show that the proposed method effectively estimates both the location and the pose of a mobile robot during navigation. We present results of trajectories of the robot in navigation and compare them with a generally utilized RFID algorithm.

[1]  Wolfram Burgard,et al.  Mapping and localization with RFID technology , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[2]  Evangelos E. Milios,et al.  Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans , 1994, 1994 Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[3]  Ryo Kurazume,et al.  Real-Time Self-Localization Method by Using Measurements of Directions of Two Landmarks and Dead Reckoning , 2005 .

[4]  Francois Blais,et al.  A MOBILE SYSTEM FOR INDOORS 3-D MAPPING AND POSITIONING1 , 1997 .

[5]  Daeheui Won,et al.  A Probabilistic Approach for Mobile Robot Localization under RFID Tag Infrastructures , 2005 .

[6]  Wolfram Burgard,et al.  Learning compact 3D models of indoor and outdoor environments with a mobile robot , 2003, Robotics Auton. Syst..

[7]  Ettore Stella,et al.  Mobile robot navigation using vision and odometry , 1994, Proceedings of the Intelligent Vehicles '94 Symposium.

[8]  Alonzo Kelly.  General solution for linearized systematic error propagation in vehicle odometry , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[9]  Yoshihiko Kimuro,et al.  Self-localization of mobile robots with RFID system by using support vector machine , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[10]  Shuji Hashimoto,et al.  Autonomous navigation of a mobile robot based on passive RFID , 2007, RO-MAN 2007 - The 16th IEEE International Symposium on Robot and Human Interactive Communication.

[11]  Yunhao Liu,et al.  ANDMARC: Indoor Location Sensing Using Active RFID , 2003, PerCom.

[12]  Evangelos E. Milios,et al.  Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans , 1997, J. Intell. Robotic Syst..

[13]  Margrit Betke,et al.  Mobile robot localization using landmarks , 1997, IEEE Trans. Robotics Autom..

[14]  Osamu Matsumoto,et al.  Autonomous Traveling Control of the "TAO Aicle" Intelligent Wheelchair , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[15]  Heejae Jung,et al.  Using RFID for Accurate Positioning , 2004 .

[16]  Laurent Delahoche,et al.  Mobile robot localization based on an omnidirectional stereoscopic vision perception system , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[17]  Hans P. Moravec.  Robot spatial perception by stereoscopic vision and 3D evidence grids , 1996 .

[18]  H. Makela,et al.  Navigation of outdoor mobile robots using dead reckoning and visually detected landmarks , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[19]  Klaus Finkenzeller,et al.  RFID Handbook: Radio-Frequency Identification Fundamentals and Applications , 2000 .

[20]  M. O. Berger,et al.  Application of radio frequency identification devices to support navigation of autonomous mobile robots , 1997, 1997 IEEE 47th Vehicular Technology Conference. Technology in Motion.

[21]  Nobuyoshi Komuro,et al.  Indoor Location Estimation Technique using UHF band RFID , 2008, 2008 International Conference on Information Networking.

[22]  Andy Hopper,et al.  The Anatomy of a Context-Aware Application , 1999, Wirel. Networks.

[23]  Yunhao Liu,et al.  LANDMARC: Indoor Location Sensing Using Active RFID , 2004, Proceedings of the First IEEE International Conference on Pervasive Computing and Communications, 2003. (PerCom 2003)..

[24]  JangMyung Lee,et al.  An Efficient Localization Scheme for a Differential-Driving Mobile Robot Based on RFID System , 2007, IEEE Transactions on Industrial Electronics.