A Hierarchical Algorithm for Indoor Mobile Robot Localization Using RFID Sensor Fusion

Author

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

Author_Institution

Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea

Volume

58

Issue

6

fYear

2011

fDate

6/1/2011 12:00:00 AM

Firstpage

2226

Lastpage

2235

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.

Keywords

mobile robots; position control; radiofrequency identification; sensor fusion; ultrasonic transducers; GPE process; LEC process; RFID sensor fusion; RFID tag; RFID-based mobile robot localization; distance data; global position estimation; hierarchical localization algorithm; indoor mobile robot localization; local environment cognition; radio-frequency identification; stand-alone RFID system; ultrasonic sensor system; Acoustics; Mobile robots; RFID tags; Robot sensing systems; Uncertainty; Localization; mobile robot; obstacle estimation; radio-frequency identification (RFID); sensor fusion;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/TIE.2011.2109330

Filename

5704578