World map based on RFID tags for indoor mobile robots

Tsukiyama, Toshifumi

doi:10.1117/12.630145

Cited by 17 publications

(19 citation statements)

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“…Hähnel [9] presented a probabilistic sensor model for RFID readers that allow them to localize RFID tags in the environment using a pair of RFID antennas. Also, in order to improve the localization capability of the robot, a navigation system using RFID tags and a vision system was proposed [10][11][12]. This system implemented a RFID reader on a mobile robot obtaining the signal from RFID tags to localize the robot with respect to the global position.…”

Section: Introductionmentioning

confidence: 99%

“…There are many works that make use of various kinds of landmarks for localization, for example, sonar features such as the corner and the wall [3], visual features [4,5], laser range finder [6], bar code [7], and RFID tag [8][9][10][11][12][13], etc. By far, landmark-based localization is the most popular method to recognize the relative position of a mobile robot [1,2].…”

Section: Introductionmentioning

confidence: 99%

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Magnetic landmark-based position correction technique for mobile robots with hall sensors

Choi

Kim

Jin

et al. 2010

Intel Serv Robotics

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We propose a precise position error compensation and low-cost relative localization method in structured environments using magnetic landmarks and hall sensors. The proposed methodology can solve the problem of fine localization as well as global localization by tacking landmarks or by utilizing various patterns of magnetic landmark arrangement. In this paper, we consider two patterns of implanted permanent magnets on the surface, namely, at each vertex of regular triangles or rectangles on a flat surface. We show that the rectangular configuration of the permanent magnetic bars is better for a robust localization under sensor noise. For the experiments, permanent magnet sets in rectangular configuration are placed on the floor as landmarks at regular intervals, and magnetic hall sensors are installed at the bottom of a mobile robot. In our implementation, the accuracy after the error compensation is less than 1 mm in the position and less than 1 • in the orientation. Due to the low cost and accuracy of the proposed methodology, it would be one of the practical solutions to the pose error correction of a mobile robot in structured environments. Electronic supplementary materialThe online version of this article (

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Magnetic landmark-based position correction technique for mobile robots with hall sensors

Choi

Kim

Jin

et al. 2010

Intel Serv Robotics

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“…Tsukiyama has deployed passive RFID tags on the wall inside a building. A robot equipped with a reader device can use the tags as landmarks to help guide itself from one point to another using ultrasonic rangefinders [15]. Kulyukin et al attached passive RFID tags to various objects and made a robot guide for the visually impaired inside a building.…”

Section: The "Mobile Readers"mentioning

confidence: 99%

Indoor Localization Systems — Tracking Objects and Personnel with Sensors, Wireless Networks and RFID

Yang

2009

Measurement and Control

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“…Recently, several authors have shown RFID tags to be also effective in mobile robot navigation tasks, such as localization and mapping. For instance, the use of RFID as landmarks in topological maps for mobile robot navigation is proposed in (Tsukiyama, 2005). In (Kulyukin et al 2004), passive RFID tags are manually attached to objects in an indoor environment to trigger local navigation behaviours of a mobile robot for www.intechopen.com visually impaired assistance.…”

Section: Related Workmentioning

confidence: 99%

“…Owing to these properties, RFID has recently found its way in the mobile robotics field, promising to contribute new solutions to data association problems in basic navigation tasks, such as localization, mapping, goal reaching, and item detection (Kubitz et al, 1997;Tsukiyama, 2005;Schneegans et al, 2007;Milella et al 2007). Nevertheless, in order for RFID sensors to be effectively used in mobile robotics applications, various issues have to be tackled.…”

mentioning

confidence: 99%