Conference Paper Performance analysis of mobile robot self-localization based on different configurations of RFID system

Mi, Jian  ,  Takahashi, Yasutake

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) July 7-11, 2015. Busan, Korea
This paper analyzes the MCL (Monte Carlo Localization) performances of an omnidirectional vehicle based on an RFID system with multiple readers at the bottom of a vehicle and the tags on the floor with different configurations of RFID system. This paper also proposes a method of reinitializing of the particles in the MCL and a likelihood function as the measurement model that are specialized to the RFID based selflocalization. The simulations demonstrate that how accurately the self-localization works according to the changes of the RFID system's configuration and how the definition of the likelihood function affects the accuracy. The results show that the self-localization based on MCL works accurately enough for realistic situation even using less RFID readers on the vehicle and lower density IC tag textiles on the floor

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