Mobile Robot Localization based on 96 HF band RFID readers and ID Tag Installed Floor Carpet

摘要

Accurate and highly reliable self-localization systemis needed for a mobile robot to work in human daily lifeenvironment. The studies of a indoor autonomous mobile robotoften use visual sensors and laser range finders. Unfortunately,it is difficult to estimate the exact global location if the environmenthas number of places that have similar shape boundariesor small number of landmarks to localize. Furthermore, itis not robust against environmental changes and unexpectedobstacles. Self-localization system based on reading RFIDtagson floor is robust against lighting condition, unexpectedobstacles, furniture and doors conditions in the environment.This paper shows RFID-based self-localization system for aomni-directional vehicle and compares its performance to theLRF-based localization.