Abstract
Pose estimation of mobile robots is an important issue for many industrial applications. The paper presents an inexpensive solution for pose estimation of mobile robots in indoor environments. Pose estimation is realized by interpreting the received signal strength indicator (RSSI) of RFID tags, which are integrated in the floor and detected by the reader. The paper presents two algorithms for fusing RFID signal strength measurements with odometry based on Kalman filtering. The paper presents experimental results with a Mecanum based omnidirectional mobile robot on a NaviFloor○ R installation, which includes passive HF RFID tags. The experiments show that the proposed algorithms provide a better performance compared to the same algorithms which consider the detection of the tags only.
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Acknowledgements
The work presented in this paper was supported partly by the German Federal Ministry for Economic Affairs and Energy (ZIM, grant number KF2795209). Furthermore the project was financially supported by the University of Applied Sciences and Arts in Dortmund (HIFF, project number 04 003 39).
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Röhrig, C., Heß, D., Künemund, F. (2017). Pose Estimation of Mobile Robots Using Floor-Installed RFID Tags. In: Ao, SI., Kim, H., Huang, X., Castillo, O. (eds) Transactions on Engineering Technologies. IMECS 2016. Springer, Singapore. https://doi.org/10.1007/978-981-10-3950-8_1
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DOI: https://doi.org/10.1007/978-981-10-3950-8_1
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