Mobile Robot Self Localization based on Multi-Antenna-RFID Reader and IC Tag Textile

摘要

This paper presents a self-localization systemusing multiple RFID reader antennas and High-FrequencyRFID-tag textile floor for an indoor autonomous mobile robot.Conventional self-localization systems often use vision sensorsand/or laser range finders and an environment model. It isdifficult to estimate the exact global location if the environmenthas number of places that have similar shape boundaries orsmall number of landmarks to localize. It tends to take a longtime to recover the self-localization estimation if it goes wrong atonce. Vision sensors work hard in dark lighting condition. Laserrange finder often fails to detect distance to a transparent wall.In addition, the self-localization becomes unstable if obstaclesocclude landmarks that are important to estimate position ofthe robot. Door opening and closing condition affects the self-localization performance.Self-localization system based on reading RFID-tags on flooris robust against lighting condition, obstacles, furniture anddoors conditions in the environment. Even if the arrangementof 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-knownkidnapped robot problem because the RFID-tags give global po-sition information. Conventional self-localization systems basedon reading RFID-tags on floor often use only one RFID readerantenna and have difficulty of orientation estimation. We havedeveloped a self-localization system using multiple RFID readerantennas and High-Frequency RFID-tag textile floor for anindoor autonomous mobile robot. Experimental results showthe validity of the proposed methods.