JAIST Repository >
School of Information Science >
Articles >
Journal Articles >

Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/7874

Title: RFID-based mobile robot guidance to a stationary target
Authors: Kim, Myungsik
Chong, Nak Young
Keywords: RFID
Mobile robot
Loop antenna
Issue Date: 2007
Publisher: Elsevier
Magazine name: Mechatronics
Volume: 17
Number: 4-5
Start page: 217
End page: 229
DOI: 10.1016/j.mechatronics.2007.01.005
Abstract: Retrieving accurate location information about an object in real-time, as well as any general information pertinent to the object, is a key to enabling a robot to perform a task in cluttered, dynamically changing environment. In this paper, we address a novel technique for the guidance of mobile robots to help them identify, locate, and approach a target in our daily environments. To this end, we propose a standard for the use of radio-frequency identification (RFID) systems and develop a prototype that can be easily installed in existing mobile robots. Specifically, when an RF signal is transmitted from an RF transponder, the proposed RFID system reads the transponder-encoded data and simultaneously picks up the direction of the transponder using the received signal strength pattern. Based on the angle of signal arrival, we develop the guidance strategies that enable a robot to find its way to the transponder position. Moreover, to cope with multi-path reflection and unexpected distortions of the signals resulted from environmental effects, we present several algorithms for reconstructing the signals. We demonstrate that an off-the-self mobile robot equipped with the proposed system locates and approaches a stationary target object. Experimental results show that the accuracy of the proposed system operating at a frequency of 315 MHz falls within a reasonable range in our normal office environment.
Rights: NOTICE: This is the author's version of a work accepted for publication by Elsevier. Myungsik Kim, Nak Young Chong, Mechatronics, 17(4-5), 2007, 217-229, http://dx.doi.org/10.1016/j.mechatronics.2007.01.005
URI: http://hdl.handle.net/10119/7874
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

Files in This Item:

File Description SizeFormat
C9962.pdf1408KbAdobe PDFView/Open

All items in DSpace are protected by copyright, with all rights reserved.


Contact : Library Information Section, Japan Advanced Institute of Science and Technology