Mapping and localization for mobile robot in semi-dynamic environment - Use of RFID tags and a laser range-finder

摘要

Mapping and localization play important roles for autonomous mobile robots. A semi-dynamic environment includes objects such as chairs and doors, which could move occasionally in the environment. We propose a method for mapping and localization in the semi-dynamic environment. Robot estimates poses of the IC tags and the semi-dynamic objects using the RFID system and a laser range-finder. Then, the environment map is updated based on the poses of detected semidynamic objects. The initial experiments show effectiveness of pose estimation of the RFID tags.