Robot Localization Algorithm using Odometry and RFID Technology
| Autor: | Andres Codas, C. Lemaire, M. Devy |
|---|---|
| Rok vydání: | 2010 |
| Předmět: |
Engineering
business.industry Monte Carlo localization Mobile robot Sensor fusion Robot localization Odometry Dead reckoning Computer Science::Networking and Internet Architecture Computer vision Artificial intelligence Visual odometry business Particle filter Algorithm Computer Science::Cryptography and Security |
| Zdroj: | IFAC Proceedings Volumes. 43:569-574 |
| ISSN: | 1474-6670 |
| DOI: | 10.3182/20100906-3-it-2019.00098 |
| Popis: | This paper presents a localization algorithm based on the particle filter using odometry and RFID sensor readings. The integration of both measurements permits to localize a mobile robot with a bounded error estimation, while dead reckoning approaches using only odometry let the error diverge. RFID tags are integrated in the environment; it is supposed their positions have been learnt during a learning step not considered here. The localization algorithm is based on the observation model for the RFID measurements; this model is determined experimentally. The algorithm and the RFID reader are embedded and evaluated on a mobile robot; experimental results show that our localization algorithm gives the robot position with a bounded error when using RFID measurements, additionally in order to correct odometry drifts. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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