Title :
Mobile robot localization scheme based on RFID and sonar fusion system
Author :
Choi, Byoung-Suk ; Lee, Ju-Jang
Author_Institution :
Div. of Electr. Eng., KAIST, Daejeon, South Korea
Abstract :
We propose a novel algorithm for improved localization of the mobile robots by fusing RFID localization system and ultra-sonic sensors. Because there are uncertainties in previous RFID localization system, we are focusing on the sensor fusion system, which removes the uncertainty of the robot location using the distance measurements by ultra-sonic sensors. We divide into 2 parts, which are GPE (global position estimation) by RFID localization system and LEC (local environment cognition) by ultra-sonic sensor. The scheme to remove the uncertainty is proposed, which are the modeling about the measurement noise for RFID localization system and to estimate the straight obstacle and circular obstacle in well-structural indoor environment by the ultra-sonic sensors. The hierarchical localization algorithm is proposed to estimate the position of the mobile robot from GPE and LEC and for robust localization under the unknown indoor environment.
Keywords :
mobile robots; radio direction-finding; radiofrequency identification; sensor fusion; uncertain systems; GPE; LEC; RFID; circular obstacle; global position estimation; local environment cognition; mobile robot localization scheme; radiofrequency identification; sensor fusion system; straight obstacle; ultra-sonic sensor; uncertain system; well-structural indoor environment; Cognition; Cognitive robotics; Distance measurement; Indoor environments; Mobile robots; Radiofrequency identification; Robot sensing systems; Sensor fusion; Sensor systems; Sonar;
Conference_Titel :
Industrial Electronics, 2009. ISIE 2009. IEEE International Symposium on
Conference_Location :
Seoul
Print_ISBN :
978-1-4244-4347-5
Electronic_ISBN :
978-1-4244-4349-9
DOI :
10.1109/ISIE.2009.5221628
