Three-Wheeled Omnidirectional Robot Localization in RFID-Tag Environments using UFIR Filtering
| Autor: | Yuriy S. Shmaliy, Jose A. Andrade-Lucio, Jorge Ortega-Contreras |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Finite impulse response Computer Networks and Communications business.industry Computer science Navigation system 020206 networking & telecommunications Gyroscope Mobile robot 02 engineering and technology Filter (signal processing) Kalman filter law.invention 020901 industrial engineering & automation law Signal Processing 0202 electrical engineering electronic engineering information engineering Radio-frequency identification Robot Computer vision Computer Vision and Pattern Recognition Artificial intelligence business Software |
| Zdroj: | WSEAS TRANSACTIONS ON SIGNAL PROCESSING. 17:16-21 |
| ISSN: | 2224-3488 1790-5052 |
| DOI: | 10.37394/232014.2021.17.2 |
| Popis: | This paper describes a way to improve the indoor navigation of mobile robots using radio frequency identification (RFID) technology. A net of RFID tags is deployed in the navigation space. A measurement system measures distances from the tags to the robot with in the presence of the firstorder Markov-Gauss colored measurement noise (CMN) and is combined with a digital gyroscope to measure the robot heading. To increase the localization accuracy, the Kalman filter (KF) and unbiased finite impulse response (UFIR) modified for CMN are used. It is shown that the navigation system developed is more accurate than the basic one employing the standard KF and UFIR filter |
| Databáze: | OpenAIRE |
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