碩士 / 國立臺北科技大學 / 機電整合研究所 / 98 / This paper proposes an efficient method for localization and pose estimation for mobile robot navigation using passive radio-frequency identification (RFID). We assume that the robotis able to identify IC tags and measure the robot’s pose based on Received Signal Strength Indication (RSSI) and IC tags on the ground. However, there arises the problem of uncertainty of location due to the nature of the antenna and IC tags. In other words, an error is always present which is relative to the sensing area of the antenna. Many researches have used external sensors in order to reduce the location errors, with few researches presented involving purely RFID driven systems. Our proposed algorithm that uses only passive RFID is able to estimate the robot’s location and orientation more precisely by using function that RSSI into the distance and The IC tag affixed to Triangle manner on the ground The experimental results show that the proposed method effectively estimates both the location and the pose of a mobile robot during navigation.
| Identifer | oai:union.ndltd.org:TW/098TIT05651039 |
| Date | January 2010 |
| Creators | Tai-ching Shih, 施岱青 |
| Contributors | 黃榮堂 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 63 |
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