An improved localization system with RFID technology for a mobile robot

Abstract

This paper proposes an improved localization scheme for self-localization of an mobile robot by fusing RFID localization system and ultrasonic measurements. The novel localization system for an indoor mobile robot is proposed to improve the efficiency of mobile robot system. The proposed system is based on previous RFID localization system, which removes the uncertainty of robot location using the distance measurements by ultra-sonic sensors. We address more efficient localization algorithm than the previous system for the mobile robot in the given environment. First, RFID and wheel encoder localization systempsilas uncertainty, which may result in inaccurate location data, is modeled. And then, the algorithm for estimating each uncertainty is proposed for localization. Finally, a proposed algorithm successfully demonstrated through simulation experiments conducted under certain assumption.