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

研究成果: Conference contribution

2 引用 (Scopus)

抜粋

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).

元の言語English
ホスト出版物のタイトル2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
ページ539-545
ページ数7
DOI
出版物ステータスPublished - 2012 10 23
イベント2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012 - Chengdu, China
継続期間: 2012 8 52012 8 8

出版物シリーズ

名前2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012

Conference

Conference2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
China
Chengdu
期間12/8/512/8/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering

フィンガープリント Active-localization methods for mobile robots in a coarsely structured environment with floor-embedded RFID tags and indoor GPS' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

  • これを引用

    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. : 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