Estimating the Position of Logistics Management Robots Using a Modified Monte Carlo Algorithm

• 발행기관: 한국산업기술융합학회(구. 산업기술교육훈련학회)
• 저자명: Jong-Hyun Seo
• 간행물 정보: 『산업기술연구논문지』제29권 3호, 1~14쪽, 전체 14쪽
• 주제분류: 공학 > 산업공학
• 파일형태: PDF
• 발행일자: 2024.09.30

국문 초록

This study investigates the localization of mobile robots using radio frequency identification(RFID) technology, which is commonly employed in logistics management. The feasibility of utilizing the RFID signal strength for localization without additional sensors or devices was analyzed and experimented . Conventional logistics management methods typically rely on cameras, ultrasound, and infrared sensors for robot localization. In contrast, this study used the RFID signal strength for localization. Additionally, to enhance localization accuracy, weights were applied based on the angle between the reader and tag, while real-time localization was implemented using field-programmable gate array (FPGA) . The experimental results improved by over 15% compared to those of conventional methods, highlighting the improved localization accuracyobtained by applying weights based on the angle between the reader and tag. Furthermore, the FPGA implementation facilitated high-performance real-time processing, further enhancing the localization performance.

목차

Ⅰ. Introduction

Ⅱ. Position estimation method

Ⅲ. Sensor data modeling

Ⅳ. Position estimation using sensor models

Ⅴ. Experimental results

Ⅵ. Conclusions

References

키워드

Logistics Robot, Position Estimation, RFID(Radio-Frequency Identification), Monte Carlo, Autonomous Driving