TY - GEN
T1 - Active-localization methods for mobile robots in a coarsely structured environment with floor-embedded RFID tags and indoor GPS
AU - Sakamoto, Yoshihiro
AU - Kodaka, Kenri
AU - Ebinuma, Takuji
AU - Fujii, Kenjiro
AU - Sugano, Shigeki
PY - 2012/10/23
Y1 - 2012/10/23
N2 - 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).
AB - 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).
KW - GPS
KW - IMES
KW - Indoor positioning
KW - RFID
UR - http://www.scopus.com/inward/record.url?scp=84867612742&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84867612742&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2012.6283165
DO - 10.1109/ICMA.2012.6283165
M3 - Conference contribution
AN - SCOPUS:84867612742
SN - 9781467312776
T3 - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
SP - 539
EP - 545
BT - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
T2 - 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
Y2 - 5 August 2012 through 8 August 2012
ER -