Abstract:
This paper presents a global localization system for an indoor autonomous vehicle equipped with odometry sensors and a radio-frequency identification (RFID) reader to int...Show MoreMetadata
Abstract:
This paper presents a global localization system for an indoor autonomous vehicle equipped with odometry sensors and a radio-frequency identification (RFID) reader to interrogate tags located on the ceiling of the environment. The RFID reader can measure the phase of the signals coming from responding tags. This phase has non-univocal dependence on the distance robot tag, but in the considered frequency, it is really sensitive to a change in the position of the robot. For this reason, a multihypothesis Kalman filtering approach provides a really satisfactory performance even in the case that a very small density of tags is used: In the experimental tests, an average position estimation error of about 4 cm is achieved using only two tags for an area of about 5 m2.
Published in: IEEE Transactions on Industrial Electronics ( Volume: 61, Issue: 1, January 2014)