A Method to Manage Data Flow between Intelligent Robots and an Intelligent Environment

Murakami, Kouji; Hasegawa, Tsutomu; Kimuro, Yoshihiko; Senta, Yosuke; Ienaga, Takafumi; Arita, Daisaku; Kurazume, Ryo

doi:10.7210/jrsj.26.192

Cited by 13 publications

(3 citation statements)

References 2 publications

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“…An LF-band RFID system for indoor mobile robot self-localization has been proposed in some studies [12,27]. For example, Kodaka et al [12] used a vehicle equipped with two RFID readers.…”

Section: Related Workmentioning

confidence: 99%

Design of an HF-Band RFID System with Multiple Readers and Passive Tags for Indoor Mobile Robot Self-Localization

Takahashi

2016

Sensors

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Radio frequency identification (RFID) technology has already been explored for efficient self-localization of indoor mobile robots. A mobile robot equipped with RFID readers detects passive RFID tags installed on the floor in order to locate itself. The Monte-Carlo localization (MCL) method enables the localization of a mobile robot equipped with an RFID system with reasonable accuracy, sufficient robustness and low computational cost. The arrangements of RFID readers and tags and the size of antennas are important design parameters for realizing accurate and robust self-localization using a low-cost RFID system. The design of a likelihood model of RFID tag detection is also crucial for the accurate self-localization. This paper presents a novel design and arrangement of RFID readers and tags for indoor mobile robot self-localization. First, by considering small-sized and large-sized antennas of an RFID reader, we show how the design of the likelihood model affects the accuracy of self-localization. We also design a novel likelihood model by taking into consideration the characteristics of the communication range of an RFID system with a large antenna. Second, we propose a novel arrangement of RFID tags with eight RFID readers, which results in the RFID system configuration requiring much fewer readers and tags while retaining reasonable accuracy of self-localization. We verify the performances of MCL-based self-localization realized using the high-frequency (HF)-band RFID system with eight RFID readers and a lower density of RFID tags installed on the floor based on MCL in simulated and real environments. The results of simulations and real environment experiments demonstrate that our proposed low-cost HF-band RFID system realizes accurate and robust self-localization of an indoor mobile robot.

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“…An LF-band RFID system for indoor mobile robot self-localization has been proposed in some studies [12,27]. For example, Kodaka et al [12] used a vehicle equipped with two RFID readers.…”

Section: Related Workmentioning

confidence: 99%

Design of an HF-Band RFID System with Multiple Readers and Passive Tags for Indoor Mobile Robot Self-Localization

Takahashi

2016

Sensors

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“…A LF-band RFID system for indoor mobile robot selflocalization has been proposed [14] [8]. For example, Kodaka et al [8] used a vehicle equipped with two HF-band RFID readers and RFID tags installed on floor.…”

Section: Related Workmentioning

confidence: 99%

Low cost design of HF-band RFID system for mobile robot self-localization based on multiple readers and tags

Takahashi

2015

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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In this paper, we focus on configuring a low cost RFID (Radio Frequency IDentification) system with less RFID readers and low density RFID tag textiles for stable and accurate self-localization for an omni-directional mobile robot. An RFID system using multiple RFID readers and high density RFID tags has already been applied to an indoor mobile robot self-localization. However, the system production cost is relatively high. To reduce the production cost of the system while maintaining the self-localization performance, we redesign two new RFID systems configured with 20 RFID readers and 5 RFID readers enlarging the size of an RFID reader antenna. Particularly, a new likelihood function of the tag detection with the redesigned large size RFID reader antenna is proposed for Monte Carlo Localization (MCL) . Furthermore, we come up with a novel arrangement of RFID tags installed in a hexagon pattern. The new arrangement of ID tags enables both low cost ID tag installation and high performance of self-localization. We examine the performances of robot self-localization with less RFID readers and lower density RFID tags installed on the floor based on MCL(Monte Carlo localization). The simulation demonstrates the validity of our proposed configuration of the RFID based self-localization.

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“…As regards research on robot movement control in consideration of blind areas in environment, apart from the methods using only robot‐mounted sensors mentioned above , there are also methods to set sensors in environment . In such works, by placing sensors in environment, the information that cannot be acquired by robot itself is provided, and an approach is proposed to create databases to predict human movement routes in specific environments and to avoid risks related to sudden entry of people from the blind areas of robot.…”

Section: Introductionmentioning

confidence: 99%

Autonomous Mobile Robot Selecting Optimum Path with Safe Speed Control in Consideration of Blind Area of Vision Sensors

Kurosaka

Kaneko

2016

Elect Comm in Japan

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SUMMARY This paper proposes a speed control method to move an autonomous mobile robot safely under the environment where blind areas exist. Sensors like a laser range finder or an optical camera cannot detect the areas in the backside of walls, pillars, or objects. When a person suddenly appears from these blind areas, the mobile robot is very likely to collide with him/her, if its speed reduction performance is limited. In this paper the safety speed of robot is carefully controlled using the distance information between the robot and the blind areas as well as obstacles. Meanwhile, the optimum path is generated to minimize the cost of moving time, considering the lengthened time cost caused by speed control process. The effectiveness of the proposed method is confirmed by both the computer simulation and the experiment using a real robot.

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A Method to Manage Data Flow between Intelligent Robots and an Intelligent Environment

Cited by 13 publications

References 2 publications

Design of an HF-Band RFID System with Multiple Readers and Passive Tags for Indoor Mobile Robot Self-Localization

Design of an HF-Band RFID System with Multiple Readers and Passive Tags for Indoor Mobile Robot Self-Localization

Low cost design of HF-band RFID system for mobile robot self-localization based on multiple readers and tags

Autonomous Mobile Robot Selecting Optimum Path with Safe Speed Control in Consideration of Blind Area of Vision Sensors

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