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http://hdl.handle.net/10119/7796
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| Title: | Automated Robot Docking Using Direction Sensing RFID |
| Authors: | Kim, MyungSik
Kim, Hyung Wook
Chong, Nak Young |
| Keywords: | RFID
DOA estimation
dual directional antenna
target acquisition
docking |
| Issue Date: | 2007-04 |
| Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
| Magazine name: | 2007 IEEE International Conference on Robotics and Automation |
| Start page: | 4588 |
| End page: | 4593 |
| DOI: | 10.1109/ROBOT.2007.364186 |
| Abstract: | Automated target acquisition and docking is key to enabling various applications of autonomous mobile robots in indoor environments. For the purpose, many researches have been devoted to the development of location sensing techniques employing the latest in RFID or GPS. However, it has not yet become possible to attain high accuracy in those techniques, particularly in cluttered or dynamically changing environments. In this paper, we propose a novel location sensing RFID reader equipped with a dual directional antenna that communicates with controllable RF transponders. The dual directional antenna estimates the direction of arrival (DOA) of signals from various transponders by using the ratio of the received strength between two antennas. This enables the robot to continuously monitor the changes in the ratio and find its way to the target transponder. To verify the validity of the proposed system in real environments populated with unknown obstacles, we perform detailed experiments using simulations and hardware implementations. Specifically, the target acquisition and docking guidance are demonstrated in a multiple transponder environment under various circumstances. |
| Rights: | Copyright (C) 2007 IEEE. Reprinted from 2007 IEEE International Conference on Robotics and Automation. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of JAIST's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. |
| URI: | http://hdl.handle.net/10119/7796 |
| Material Type: | publisher |
| Appears in Collections: | b11-1. 会議発表論文・発表資料 (Conference Papers)
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