Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Study on Map Building of Mobile Robot Using RFID Technology and Ultrasonic Sensor

초음파센서와 RFID 시스템을 이용한 이동로봇의 맵 빌딩에 관한 연구

  • 이도경 (부경대학교 메카트로닉스협동과정) ;
  • 임재성 (부경대학교 수송기계 안전편의 융합부품소재 인력양성 센터) ;
  • 김상봉 (부경대학교 기계공학부)
  • Published : 2010.03.01
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Abstract

This paper is to present map building of mobile robot using RFID (Radio Frequency Identification) technology and ultrasonic sensor. For mobile robot to perform map building, the mobile robot needs its localization and accurate driving in space. In this reason, firstly, kinematic modeling of mobile robot under non-holonomic constrains is introduced. Secondly, based on this modeling, a tracking controller is designed for tracking a given path based on backstepping method using Lyapunov function. The Lyapunov function is also introduced for proving the stability of the designed tracking controller. Thirdly, 2D map building is performed by RFID system, mobile robot system and ultrasonic sensors. The RFID mobile robot system is composed of DC motor, encoder, ultra sonic sensor, digital compass, RFID receiver and RFID antenna. Finally, the path tracking simulation results and map building experimental results are presented to show the effectiveness of the designed controller.

Keywords

References

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