Robot Pose Estimation on Floor Equipped with a Lattice of RFID Tags
-
- KODAKA Kenri
- Waseda Univ., WABOT-HOUSE Lab.
-
- NIWA Haruhiko
- Waseda Univ., WABOT-HOUSE Lab.
-
- SAKAMOTO Yoshihiro
- Waseda Univ., WABOT-HOUSE Lab.
-
- SUGANO Shigeki
- Waseda Univ., WABOT-HOUSE Lab.
Bibliographic Information
- Other Title
-
- 格子状に配置されたRFIDタグの床面を移動するロボットの姿勢推定
- コウシジョウ ニ ハイチ サレタ RFID タグ ノ ユカメン オ イドウ スル ロボット ノ シセイ スイテイ
Search this article
Abstract
A method of estimating pose of a robot on a lattice of RFID tags is described. There is a model room in WABOT-HOUSE Laboratory of Waseda University where the floor is equipped with a lattice of RFID tags at 300 mm intervals, simulating a future home environment where robots interact symbiotically with humans. This paper propose a method that uses Monte Carlo localization to estimate the pose of robot on the lattice more precisely than the interval of tags. The experience shows the position and orientation error converge at about 50 mm (straight movement) / 20 mm (rotating movement) and less than 0.1 radian using some properly designed model-parameters, which are tuned in accordance with our simulation results, when two readers are placed appropriately. Moreover, we describe some items about where readers should be placed.
Journal
-
- Transactions of the Society of Instrument and Control Engineers
-
Transactions of the Society of Instrument and Control Engineers 45 (7), 379-387, 2009
The Society of Instrument and Control Engineers
- Tweet
Details 詳細情報について
-
- CRID
- 1390001204504094208
-
- NII Article ID
- 10025090346
-
- NII Book ID
- AN00072392
-
- ISSN
- 18838189
- 04534654
-
- NDL BIB ID
- 10401255
-
- Text Lang
- en
-
- Data Source
-
- JaLC
- NDL
- Crossref
- CiNii Articles
-
- Abstract License Flag
- Disallowed