Development of Self-Localizer Using Collaboration of Trilateration and Triangulation
This paper was performed to technically implement a sensing platform for Home-Wellness Robot.The self-Localization of an indoor mobile robot is very important for the sophisticated trajectory control.In this paper,the robot`s self-localization algorithm was designed by using an RF sensor network and fuzzy inference.The robot realizes its self-localization,using RFID sensors,through the collaboration algorithm which uses fuzzy inference for combining the strengths of triangulation and triangulation.For the triangulation self-Localization,RSSI is implemented.TOA method is used for realizing the triangulation self-localization.The final improved position is,through fuzzy inference,made by the fusion algorithm of the resultant coordinates from trilateration and triangulation in real time.In this paper,good performance of the proposed self-localization algorithm is confirmed through the results of a variety of experiments in the base of RFID sensor network and reader system.
Home wellness Robot,Self-localization,Triangulation,Trilateration,Fuzzy Inference
Byoungsu Lee Dong-Min Woo Min-Kee Park Seungwoo Kim
Dept. of Electronic and information Engineering, Soonchunhyang University, Asan, Republic of Korea Dept. of Electronics Engineering, Myoungji University, Yongin, Republic of Korea Dept. of Electronic and IT Media Engineering, SEOULTech, Seoul, Republic of Korea
国际会议
厦门
英文
740-744
2014-08-19（万方平台首次上网日期，不代表论文的发表时间）