2A2-M04 Simultaneous Localization and Mapping on HF-band RFID System for Omni-direction Vehicle

摘要

RFID system is useful for mobile robot self-localization in an environment where RFID tags are distributed accordingly. It enables a mobile robot equipped with a RFID reader to detect the tags and localize itself in a simple way with high accuracy. Simultaneous localization and mapping (SLAM) has attracted immense attention in the mobile robotics literature. This paper analyzes the SLAM 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. We use the IC tags as the landmarks to build the map. The method has been tested on the simulated and real environment. Experimental results show the validity of the proposed method.