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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/8488

Title: Fusion of direction sensing RFID and sonar for mobile robot docking
Authors: Kim, Myungsik
Chong, Nak Young
Yu, Wonpil
Issue Date: 2008-08
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: IEEE International Conference on Automation Science and Engineering, 2008. CASE 2008.
Start page: 709
End page: 714
DOI: 10.1109/COASE.2008.4626436
Abstract: Finding and moving to a target is a key element toward enhancing functionality and autonomy of mobile robots in a variety of applications. For the purpose, the location sensing radio frequency identification (RFID) system has been proposed by the authors. Real time tracking of the target transponder became available by employing the dual-directional antenna. However, since the system depended on the accuracy of the estimation for direction of arrival (DOA) of transponder signals, the systempsilas performance may deteriorate in electromagnetically noisy or cluttered environments. In this paper, the features of the system are improved to accommodate such situations. The error correction algorithm is incorporated to provide a robust estimation of DOA, and sonar data are fused to characterize the environment. To verify the validity of the proposed system, we perform simulations and experiments of mobile robot docking in a real environment populated with stationary and movable obstacles.
Rights: Copyright (C) 2008 IEEE. Reprinted from IEEE International Conference on Automation Science and Engineering, 2008. CASE 2008., 709-714. 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/10119/8488
Material Type: publisher
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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