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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/8512

Title: Direction Sensing RFID Reader for Mobile Robot Navigation
Authors: Kim, Myungsik
Chong, Nak Young
Issue Date: 2009-01
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: IEEE Transactions on Automation Science and Engineering
Volume: 6
Number: 1
Start page: 44
End page: 54
DOI: 10.1109/TASE.2008.2006858
Abstract: A self-contained direction sensing radio frequency identification (RFID) reader is developed employing a dual-directional antenna for automated target acquisition and docking of a mobile robot in indoor environments. The dual-directional antenna estimates the direction of arrival (DOA) of signals from a transponder by using the ratio of the received signal strengths between two adjacent antennas. This enables the robot to continuously monitor the changes in transponder directions and ensures reliable docking guidance to the target transponder. One of the technical challenges associated with this RFID direction finding is to sustain the accuracy of the estimated DOA that varies according to environmental conditions. It is often the case that the robot loses its way to the target in a cluttered environment. To cope with this problem, the direction correction algorithm is proposed to triangulate the location of the transponder with the most recent three DOA estimates. Theoretical simulation results verify the reliability of the proposed algorithm that quantifies the potential error in the DOA estimation. Using the algorithm, we validate mobile robot docking to an RFID transponder in an office environment occupied by obstacles.
Rights: Copyright (C) 2009 IEEE. Reprinted from IEEE Transactions on Automation Science and Engineering, 6(1), 2009, 44-54. 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/10119/8512
Material Type: publisher
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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