The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. ex. Some numerals are expressed as "XNUMX".
Copyrights notice
The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
본 논문에서는 무작위로 분산된 수동형 RFID 태그를 이용한 이동 로봇의 자율 항법 시스템을 제시한다. 무작위로 분포된 RFID 태그의 경우, 특히 RFID 태그 분포가 희박한 영역에서는 로봇의 정확한 위치를 제공하기 어렵습니다. 이는 로봇의 넓은 회전 반경과 결합되어 로봇이 지그재그 탐색 경로로 들어가 목표를 놓칠 수 있습니다. RFID 기반 내비게이션에서는 넓은 공간에서 실용화하기 위해서는 RFID 태그 수와 위치 파악 오류를 모두 줄이는 것이 핵심이다. 이에 대응하기 위해 각 RFID 태그의 판독 시간을 측정하는 판독 시간(Read time)을 활용했습니다. 이를 통해 외부 센서를 사용하거나 RFID 태그를 늘리지 않고도 위치와 방향을 정확하게 추정할 수 있었습니다. 7.8m x 11m 면적에서 102개의 RFID 태그를 사용하여 측위 4.2cm, 방향 6.2도의 평균 추정 오류를 달성했습니다. 우리가 제안한 방법은 기존 접근 방식과 비교하여 탐색 중에 생성된 경로 궤적을 통해 검증되었습니다.
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Sunhong PARK, Shuji HASHIMOTO, "Autonomous Navigation System for Mobile Robot Using Randomly Distributed Passive RFID Tags" in IEICE TRANSACTIONS on Fundamentals,
vol. E93-A, no. 4, pp. 711-719, April 2010, doi: 10.1587/transfun.E93.A.711.
Abstract: This paper presents an autonomous navigation system for a mobile robot using randomly distributed passive RFID tags. In the case of randomly distributed RFID tags, it is difficult to provide the precise location of the robot especially in the area of sparse RFID tag distribution. This, combined with the wide turning radius of the robot, can cause the robot to enter a zigzag exploration path and miss the goal. In RFID-based navigation, the key is to reduce both the number of RFID tags and the localization error for practical use in a large space. To cope with these, we utilized the Read time, which measures the reading time of each RFID tag. With this, we could estimate accurately the localization and orientation without using any external sensors or increasing the RFID tags. The average estimation errors of 7.8 cm in localization and 11 degrees in orientation were achieved with 102 RFID tags in the area of 4.2 m by 6.2 m. Our proposed method is verified with the path trajectories produced during navigation compared with conventional approaches.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.E93.A.711/_p
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@ARTICLE{e93-a_4_711,
author={Sunhong PARK, Shuji HASHIMOTO, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Autonomous Navigation System for Mobile Robot Using Randomly Distributed Passive RFID Tags},
year={2010},
volume={E93-A},
number={4},
pages={711-719},
abstract={This paper presents an autonomous navigation system for a mobile robot using randomly distributed passive RFID tags. In the case of randomly distributed RFID tags, it is difficult to provide the precise location of the robot especially in the area of sparse RFID tag distribution. This, combined with the wide turning radius of the robot, can cause the robot to enter a zigzag exploration path and miss the goal. In RFID-based navigation, the key is to reduce both the number of RFID tags and the localization error for practical use in a large space. To cope with these, we utilized the Read time, which measures the reading time of each RFID tag. With this, we could estimate accurately the localization and orientation without using any external sensors or increasing the RFID tags. The average estimation errors of 7.8 cm in localization and 11 degrees in orientation were achieved with 102 RFID tags in the area of 4.2 m by 6.2 m. Our proposed method is verified with the path trajectories produced during navigation compared with conventional approaches.},
keywords={},
doi={10.1587/transfun.E93.A.711},
ISSN={1745-1337},
month={April},}
부
TY - JOUR
TI - Autonomous Navigation System for Mobile Robot Using Randomly Distributed Passive RFID Tags
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 711
EP - 719
AU - Sunhong PARK
AU - Shuji HASHIMOTO
PY - 2010
DO - 10.1587/transfun.E93.A.711
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E93-A
IS - 4
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - April 2010
AB - This paper presents an autonomous navigation system for a mobile robot using randomly distributed passive RFID tags. In the case of randomly distributed RFID tags, it is difficult to provide the precise location of the robot especially in the area of sparse RFID tag distribution. This, combined with the wide turning radius of the robot, can cause the robot to enter a zigzag exploration path and miss the goal. In RFID-based navigation, the key is to reduce both the number of RFID tags and the localization error for practical use in a large space. To cope with these, we utilized the Read time, which measures the reading time of each RFID tag. With this, we could estimate accurately the localization and orientation without using any external sensors or increasing the RFID tags. The average estimation errors of 7.8 cm in localization and 11 degrees in orientation were achieved with 102 RFID tags in the area of 4.2 m by 6.2 m. Our proposed method is verified with the path trajectories produced during navigation compared with conventional approaches.
ER -