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autonomous navigation of a mobile robot based on passive rfid l.
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  1. 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

  2. Outline

  3. The proposed method estimates not only the position 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

  4. Outline

  5. (1)Mobile base 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.

  6. 二、 Robot and RFID system (2)RFID

  7. 二、 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

  8. Outline

  9. 三、Algorithm Forecasted trajectory of the robot

  10. 三、Algorithm The movement distance of robot is influenced by front wheels shape and sliding with floor.

  11. 三、Algorithm

  12. 三、Algorithm

  13. 三、Algorithm

  14. Outline

  15. 四、experiment

  16. 四、experiment Case 1: The goal at the edge of the IC tag field

  17. 四、experiment Case 2: The goal in the IC tag field

  18. Outline

  19. 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

  20. Outline

  21. 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

  22. Q&A Thanks your attention