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http://hdl.handle.net/10119/7874
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| Title: | RFID-based mobile robot guidance to a stationary target |
| Authors: | Kim, Myungsik
Chong, Nak Young |
| Keywords: | RFID
Mobile robot
Localization
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)
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