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 onan RFID system with multiple readers at the bottom of a vehicleand the tags on the floor with different configurations of RFIDsystem. This paper also proposes a method of reinitializingof the particles in the MCL and a likelihood function as themeasurement model that are specialized to the RFID based selflocalization.The simulations demonstrate that how accuratelythe self-localization works according to the changes of theRFID system’s configuration and how the definition of thelikelihood function affects the accuracy. The results show thatthe self-localization based on MCL works accurately enough forrealistic situation even using less RFID readers on the vehicleand lower density IC tag textiles on the floor

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