A Localization Algorithm for Mobile Robots in RFID System

This paper presents an efficient localization algorithm for an indoor mobile robot using the RFID system. The mobile robot carries a RFID reader at the bottom of the mobile robot, which reads the RFID tags on the floor to localize the mobile robot. Each RFID tag stores its own unique position which is used to calculate the position of the mobile robot. In this paper, a SLAM (simultaneously localization and mapping) algorithm is proposed to extend into RFID system for positioning and localization. Though the experiments, this algorithm has been proved to successfully achieve the mobile object position estimation and tracking in 2D range by using known RFID data.

[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]  John Nicholson,et al.  RFID in robot-assisted indoor navigation for the visually impaired , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[3]  Rodney A. Brooks,et al.  A robot that walks; emergent behaviors from a carefully evolved network , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[4]  Branko Ristic,et al.  Beyond the Kalman Filter: Particle Filters for Tracking Applications , 2004 .

[5]  Sanjiv Singh,et al.  Experimental results in range-only localization with radio , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[6]  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).

[7]  Kiyoshi Komoriya,et al.  Position estimation of a mobile robot using optical fiber gyroscope (OFG) , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[8]  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.

[9]  Wolfram Burgard,et al.  Robust Monte Carlo localization for mobile robots , 2001, Artif. Intell..

[10]  Sebastian Thrun,et al.  Particle Filters in Robotics , 2002, UAI.

[11]  Takashi Tsubouchi,et al.  Outdoor navigation of a mobile robot between buildings based on DGPS and odometry data fusion , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[12]  Sebastian Thrun.  Is Robotics Going Statistics? The Field of Probabilistic Robotics , 2001 .

[13]  Sanjiv Singh,et al.  Preliminary results in range-only localization and mapping , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[14]  Wolfram Burgard,et al.  The Mobile Robot Rhino , 1995, SNN Symposium on Neural Networks.

[15]  Kiyoshi Komoriya,et al.  Position Extimation of a Mobile Robot Using Optical Fiber Gyroscope , 1996 .

[16]  Sebastian Thrun,et al.  FastSLAM: An Efficient Solution to the Simultaneous Localization And Mapping Problem with Unknown Data , 2004 .