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

2 Citations (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 Oct 23
Event2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012 - Chengdu, China
Duration: 2012 Aug 52012 Aug 8

Publication series

Name2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012

Conference

Conference2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
CountryChina
CityChengdu
Period12/8/512/8/8

Keywords

  • GPS
  • IMES
  • Indoor positioning
  • RFID

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering

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  • 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] (2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012). https://doi.org/10.1109/ICMA.2012.6283165