RFID와 도래각 추적을 이용한 이동 로봇의 위치 보정에 관한 연구

This paper is research about localization of mobile robot using the RFID and DOA(Direction Of Arrival). General method of self localization is triangle measurement using three sensors. In this paper, we propose the localization method using the one RFID senor through the DOA of RFID signal. This algorithm is estimate the DOA of the RFID signal when detect the RFID tag. and estimate the relative position of the tag using the DOA. And estimate coordinate of the mobile robot compare the estimate tag coordinate with actual tag coordinate form the tag. The result of simulation is the mobile robot can compensate for the margin of error using the suggested method of this paper.