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


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 syst...Show More

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.
Published in: IEEE Transactions on Industrial Electronics ( Volume: 58, Issue: 6, June 2011)
Page(s): 2226 - 2235
Date of Publication: 31 January 2011

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