2 research outputs found
Mobile Robot Self Localization based on Multi-Antenna-RFID Reader and IC Tag Textile
This paper presents a self-localization system
using multiple RFID reader antennas and High-Frequency
RFID-tag textile floor for an indoor autonomous mobile robot.
Conventional self-localization systems often use vision sensors
and/or laser range finders and an environment model. It is
difficult to estimate the exact global location if the environment
has number of places that have similar shape boundaries or
small number of landmarks to localize. It tends to take a long
time to recover the self-localization estimation if it goes wrong at
once. Vision sensors work hard in dark lighting condition. Laser
range finder often fails to detect distance to a transparent wall.
In addition, the self-localization becomes unstable if obstacles
occlude landmarks that are important to estimate position of
the robot. Door opening and closing condition affects the self-
localization performance.
Self-localization system based on reading RFID-tags on floor
is robust against lighting condition, obstacles, furniture and
doors conditions in the environment. Even if the arrangement
of the obstacles or furniture in the environment is changed,
it is not necessary to update the map for the self-localization.
It can localize itself immediately and is free from well-known
kidnapped robot problem because the RFID-tags give global po-
sition information. Conventional self-localization systems based
on reading RFID-tags on floor often use only one RFID reader
antenna and have difficulty of orientation estimation. We have
developed a self-localization system using multiple RFID reader
antennas and High-Frequency RFID-tag textile floor for an
indoor autonomous mobile robot. Experimental results show
the validity of the proposed methods.2013 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)
Shibaura Institute of Technology, Tokyo, JAPAN
November 7-9, 201
An intelligent multi-floor mobile robot transportation system in life science laboratories
In this dissertation, a new intelligent multi-floor transportation system based on mobile robot is presented to connect the distributed laboratories in multi-floor environment. In the system, new indoor mapping and localization are presented, hybrid path planning is proposed, and an automated doors management system is presented. In addition, a hybrid strategy with innovative floor estimation to handle the elevator operations is implemented. Finally the presented system controls the working processes of the related sub-system. The experiments prove the efficiency of the presented system