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http://hdl.handle.net/10119/8817
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| Title: | Robust DOA estimation and target docking for mobile robots |
| Authors: | Kim, Myungsik
Nak Young, Chong
Yu, Wonpil |
| Keywords: | RFID
DOA
Dual-directional antenna
Kalman filtering
Docking |
| Issue Date: | 2009-01 |
| Publisher: | Springer |
| Magazine name: | Intelligent Service Robotics |
| Volume: | 2 |
| Number: | 1 |
| Start page: | 41 |
| End page: | 51 |
| DOI: | 10.1007/s11370-008-0029-0 |
| Abstract: | Direction of arrival (DOA) guided automated target acquisition and docking system is proposed for mobile robots employing the dual-directional antenna system. The dual-directional antenna estimates the DOA of the signal of interest using the ratio of the signal strengths between two adjacent antennas. In practice, DOA estimation poses a significant technical challenge, since the RF signal is easily distorted by the environmental conditions. Therefore, the robot often loses its way in an electromagnetically disturbed environment. To cope with this problem, a robust DOA estimation algorithm is developed based on Kalman filtering. This algorithm allows the robot to reduce the potential error in the estimated DOA, and adjust the robot’s heading to the target transponder without needing to know the positions of current and previous measurements in a global coordinate system. The simulation and experiment results clearly demonstrate that the mobile robot equipped with the developed system is able to dock to a target transponder in an indoor environment partially occupied by obstacles. |
| Rights: | This is the author-created version of Springer, Myungsik Kim, Nak Young Chong and Wonpil Yu, Intelligent Service Robotics, 2(1), 2009, 41-51. The original publication is available at www.springerlink.com, http://dx.doi.org/10.1007/s11370-008-0029-0 |
| URI: | http://hdl.handle.net/10119/8817 |
| Material Type: | author |
| Appears in Collections: | b10-1. 雑誌掲載論文 (Journal Articles)
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