Global Pose Localization of an Autonomous Wheeled Mobile Robot by Fusing Active RFID and Ranging Laser Scanner: a Fuzzy Extended Information Filtering Approach

摘要

The paper presents a global pose localization method for an autonomous mobile robot (AMR) in indoor environments by fusing measurements from an active RFID and a ranging laser scanner. The relations between the received signal strength indication data from a selected tag to a reader and the distances from the tag to the reader are established utilizing the curve-fitting method and the fuzzy weighted least-squares method at some typical working environments of the robot. A static global pose initialization algorithm is presented to estimate both the unknown start-up position and orientation of the autonomous mobile robot utilizing a fuzzy extended information filtering approach. A fuzzy extended information filtering pose tracking algorithm is then proposed to estimate the moving poses of the AMR. Simulations and experimental results are used to show the performance and merit of the proposed method.