정적 Passive RFID 태그를 이용한 지능적인 로봇위치추정기법An Intelligent Estimation Method of Robot-location based on Passive RFID Tags in Static Position
- Other Titles
- An Intelligent Estimation Method of Robot-location based on Passive RFID Tags in Static Position
- Authors
- 문승욱; 지용관; 박장현
- Issue Date
- Jan-2006
- Publisher
- 제어·로봇·시스템학회
- Keywords
- mobile robot; passive RFID tag; location estimation; mobile robot; passive RFID tag; location estimation
- Citation
- 제어.로봇.시스템학회 논문지, v.12, no.1, pp.9 - 14
- Indexed
- KCI
- Journal Title
- 제어.로봇.시스템학회 논문지
- Volume
- 12
- Number
- 1
- Start Page
- 9
- End Page
- 14
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/181825
- ISSN
- 1976-5622
- Abstract
- This paper presents methods of robot localization using recent radio frequency identification technology. If the absolute position and orientation of a tag are given in an indoor environment where RFID tags are installed, a robot can estimate its location using the relationship of the identified tag and the robot in a relative coordinate. To derive this relationship, we propose three estimation techniques using a model of a RFID reader, the direction of identification and the detection range. In this algorithm, a suitable estimation method is selected out of the three proposed techniques depending on the situations and trajectory of robot in the detection range. Simulation and experimental results show that the proposed methods can provide good performance for localization.
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