Title :
Localization in large-scale underground environments with RFID
Author :
Rusu, S. Radacina ; Hayes, M.J.D. ; Marshall, Joshua A.
Author_Institution :
Dept. of Mech. & & Aerosp. Eng., Carleton Univ., Ottawa, ON, Canada
Abstract :
Localization using satellite-based GPS is not available in underground mines, therefore a new approach is required. This paper presents a method for localizing a sensor-equipped vehicle in a large-scale underground environment by using a particle filter and a collection of 2D a priori node maps. Sporadically placed passive RFID tags are used in the creation of the locally consistent node maps and for helping to solve the global localization problem. Experimental results from real-time localization in the multi-kilometre Carleton University underground tunnels are presented.
Keywords :
industrial robots; mining industry; mobile robots; particle filtering (numerical methods); radiofrequency identification; vehicles; 2D a priori node maps; global localization problem; large-scale underground environment; particle filter; passive RFID tags; robot localization; sensor-equipped vehicle localization; underground mines; Copper; Global Positioning System; Graphical user interfaces; RFID tags; Real time systems; Vehicles; RFID; Robot localization; filtering;
Conference_Titel :
Electrical and Computer Engineering (CCECE), 2011 24th Canadian Conference on
Conference_Location :
Niagara Falls, ON
Print_ISBN :
978-1-4244-9788-1
Electronic_ISBN :
0840-7789
DOI :
10.1109/CCECE.2011.6030640
