Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Development of Map Building Algorithm for Mobile Robot by Using RFID

모바일 로봇에서 RFID를 이용한 지도작성 알고리즘 개발

  • 김시습 (전남대학교 기계공학과 대학원) ;
  • 선정안 (웅진에너지(주)) ;
  • 기창두 (전남대학교 기계시스템공학부)
  • Received : 2011.01.28
  • Accepted : 2011.03.16
  • Published : 2011.04.15
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Abstract

RFID system can be used to improve object recognition, map building and localization for robot area. A novel method of indoor navigation system for a mobile robot is proposed using RFID technology. The mobile robot With a RFID reader and antenna is able to find what obstacles are located where in circumstance and can build the map similar to indoor circumstance by combining RFID information and distance data obtained from sensors. Using the map obtained, the mobile robot can avoid obstacles and finally reach the desired goal by $A^*$ algorithm. 3D map which has the advantage of robot navigation and manipulation is able to be built using z dimension of products. The proposed robot navigation system is proved to apply for SLAM and path planning in unknown circumstance through numerous experiments.

Keywords

References

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