Autonomous navigation of a mobile robot based on passive rfid
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Autonomous navigation of a mobile robot based on passive RFID (IEEE RO-MAN 2007) Source : 16th IEEE International Conference on Robot & Human Interactive Communication Authors : Sunhong.Park 、 Ryo Saegusa and Shuji Hashimoto Speaker :余俊瑩 Advisor :洪國寶 老師 Date : 98.12.08

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Autonomous navigation of a mobile robot based on passive rfid l.jpg

Autonomous navigation of a mobile robot based on passive RFID

(IEEE RO-MAN 2007)

Source : 16th IEEE International Conference on Robot & Human Interactive Communication

Authors : Sunhong.Park、Ryo Saegusa and Shuji Hashimoto

Speaker :余俊瑩

Advisor :洪國寶 老師

Date :98.12.08


Outline l.jpg
Outline RFID


Introduction l.jpg

  • The proposed method estimates not only the RFIDposition but also its autonomous orientation without other sensors by using the detected sequential IC tag information.

  • Only need the position information but not the orientation information.

  • For the aged and the disabled person.

一、 Introduction


Outline4 l.jpg
Outline RFID


Robot and rfid system l.jpg

(1)Mobile base RFID

二、 Robot and RFID system

servomotor

free

UBIRO(Ubiquitous Robot)

  • The DC servo motors are controlled with DA board for navigation based on the previous tag ID and the present tag ID read by the antenna scan.

  • The movement distance of robot is influenced by front wheels shape and sliding with floor.


Robot and rfid system6 l.jpg
二、 RFID Robot and RFID system

(2)RFID


Robot and rfid system7 l.jpg
二、 RFID Robot and RFID system

Step1: Initial position

and goal position

Step3:Control the

mobile base

Central controller

Step2:Gets IC tags

from the RFID

system


Outline8 l.jpg
Outline RFID


Algorithm l.jpg
三、 RFIDAlgorithm

Forecasted trajectory of the robot


Algorithm10 l.jpg
三、 RFIDAlgorithm

The movement distance of robot is influenced by

front wheels shape and sliding with floor.


Algorithm11 l.jpg
三、 RFIDAlgorithm


Algorithm12 l.jpg
三、 RFIDAlgorithm


Algorithm13 l.jpg
三、 RFIDAlgorithm


Outline14 l.jpg
Outline RFID


Experiment l.jpg
四、 RFIDexperiment


Experiment16 l.jpg
四、 RFIDexperiment

Case 1: The goal at the edge of the IC

tag field


Experiment17 l.jpg
四、 RFIDexperiment

Case 2: The goal in the IC tag field


Outline18 l.jpg
Outline RFID


Conclusion l.jpg

  • The proposed method is that it realizes the navigation with the minimum information as the location information.

  • Consequently, we do not need any sensor which to get the information of

    pose.

  • And, when it combined a plural sensor, the robot can reach the goal even if other sensors are broken.

  • In the future, we aim for the robot to navigate in a more complicated environment, including obstacles by identifying IC tags.

  • Also, we are to discuss on optimized path planning algorithm by using the probability distribution model of the path trajectory in the space of IC tag.

五、Conclusion


Outline20 l.jpg
Outline the minimum information as the location information.


Acknowledgement l.jpg

  • This work was supported in part by the Korean Science and Engineering Foundation Grant funded by the Korean government (MOST) (No.D00202).

  • This work was also supported in part by the WABOT HOUSE project funded by Gifu prefecture and the 21st Century Center of Excellence Program in Waseda University .

六、Acknowledgement


Slide22 l.jpg
Q&A Engineering Foundation Grant funded by the Korean government (MOST) (No.D00202).

Thanks your attention