Active localization of a robot on a lattice of RFID tags by using an entropy map

Kenri Kodaka*, Haruhiko Niwa, Shigeki Sugano

*この研究の対応する著者

研究成果: Conference contribution

8 被引用数 (Scopus)

抄録

We have developed a novel way for robots to estimate their pose dynamically in an environment in which RFID tags have been arranged. We previously developed a method for localizing robots using a particle filter. Testing in a room equipped with a lattice of RFID tags at 300-mm intervals revealed that the estimation fails when the robot's RFID readers are near the center of the robot's rotation because the reader could not detect enough tags by rotating movements when the robot's positions are not suitable. We have overcome this problem by developing an active localization algorithm that generates an entropy map from the RFID arrangement information, predicts the pose using a particle filter, and attracts the robot to the target using a dynamic model, the fundamental unit of which is rotation-based angular velocity. Testing demonstrated that a robot using this algorithm and an entropy map can estimate its pose robustly without falling into a dead zone by moving only about 20 cm at most.

本文言語English
ホスト出版物のタイトル2009 IEEE International Conference on Robotics and Automation, ICRA '09
ページ3921-3927
ページ数7
DOI
出版ステータスPublished - 2009 11月 2
イベント2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
継続期間: 2009 5月 122009 5月 17

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Conference

Conference2009 IEEE International Conference on Robotics and Automation, ICRA '09
国/地域Japan
CityKobe
Period09/5/1209/5/17

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

フィンガープリント

「Active localization of a robot on a lattice of RFID tags by using an entropy map」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル