Active-localization methods for mobile robots in a coarsely structured environment with floor-embedded RFID tags and indoor GPS

Yoshihiro Sakamoto, Kenri Kodaka, Takuji Ebinuma, Kenjiro Fujii, Shigeki Sugano

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)

    Abstract

    Two active-localization methods for mobile robots, namely, "rhythm-based adaptive localization" for floor-embedded RFID tags and "real-time kinematic Doppler positioning" for indoor GPS (an indoor messaging system, or IMES), are proposed. Both methods increase the positioning accuracy of a robot by moving the sensor attached to the robot. The results of a positioning experiment with floor-embedded RFID tags show that the rhythm-based adaptive-localization method can achieve a positioning accuracy of 25 cm under the conditions that noise is intentionally added to the value of a wheel encoder, the installation interval of tags is 30 cm, and the tag installation is incomplete (i.e., some tags are missing). On the other hand, the results of a positioning experiment using IMES show that the real-time kinematic Doppler-positioning method can achieve centimeter to decimeter-level positioning accuracy even if the number of visible transmitters is only one (i.e., trilateration is not used).

    Original languageEnglish
    Title of host publication2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
    Pages539-545
    Number of pages7
    DOIs
    Publication statusPublished - 2012
    Event2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012 - Chengdu
    Duration: 2012 Aug 52012 Aug 8

    Other

    Other2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
    CityChengdu
    Period12/8/512/8/8

    Fingerprint

    Radio frequency identification (RFID)
    Mobile robots
    Global positioning system
    Kinematics
    Robots
    Transmitters
    Wheels
    Experiments
    Sensors

    Keywords

    • GPS
    • IMES
    • Indoor positioning
    • RFID

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Mechanical Engineering

    Cite this

    Sakamoto, Y., Kodaka, K., Ebinuma, T., Fujii, K., & Sugano, S. (2012). Active-localization methods for mobile robots in a coarsely structured environment with floor-embedded RFID tags and indoor GPS. In 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012 (pp. 539-545). [6283165] https://doi.org/10.1109/ICMA.2012.6283165

    Active-localization methods for mobile robots in a coarsely structured environment with floor-embedded RFID tags and indoor GPS. / Sakamoto, Yoshihiro; Kodaka, Kenri; Ebinuma, Takuji; Fujii, Kenjiro; Sugano, Shigeki.

    2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012. 2012. p. 539-545 6283165.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Sakamoto, Y, Kodaka, K, Ebinuma, T, Fujii, K & Sugano, S 2012, Active-localization methods for mobile robots in a coarsely structured environment with floor-embedded RFID tags and indoor GPS. in 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012., 6283165, pp. 539-545, 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012, Chengdu, 12/8/5. https://doi.org/10.1109/ICMA.2012.6283165
    Sakamoto Y, Kodaka K, Ebinuma T, Fujii K, Sugano S. Active-localization methods for mobile robots in a coarsely structured environment with floor-embedded RFID tags and indoor GPS. In 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012. 2012. p. 539-545. 6283165 https://doi.org/10.1109/ICMA.2012.6283165
    Sakamoto, Yoshihiro ; Kodaka, Kenri ; Ebinuma, Takuji ; Fujii, Kenjiro ; Sugano, Shigeki. / Active-localization methods for mobile robots in a coarsely structured environment with floor-embedded RFID tags and indoor GPS. 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012. 2012. pp. 539-545
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