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PIER PIER B PIER C PIER M PIER Letters
2010-11-19
RFID Based Collision-Free Robot Docking in Cluttered Environment
By
Myungsik Kim,

    Dr. Myungsik Kim

    Intelligent Systems Research Center

    Sungkyunkwan Univ.

    Republic of Korea

    Homepage

Kwangsoo Kim,

    Dr. Kwangsoo Kim

    Sogang University

    Republic of Korea

    Homepage

Nakyoung Chong

    Dr. Nakyoung Chong

    School of Information Science

    Japan Advanced Institute of Science and Technology

    Japan

    Homepage

Progress In Electromagnetics Research, Vol. 110, 199-218, 2010
doi:10.2528/PIER10091604
Abstract
This paper proposes a radio frequency identification (RFID) based collision-free robot docking in cluttered environment. Physical distance estimation sensors are fused to the developed degree of arrival (DOA) guided robot docking system, and collision-avoidance function is implemented based on the vector field histogram technique. Additionally, new simple but efficient DOA filtering algorithm is developed based on the gain control according to the improved robot control algorithm, which enables the robot to move continuously. The experimental results show that the robot can move to target transponder even though the estimated DOA is blocked by obstacles. The success rate does not reach satisfactory level due to the limitation of the employed sensors and collision-avoidance algorithm, but it is proved that the collision-free docking becomes available without any priori map and reference stations.
Citation
Myungsik Kim, Kwangsoo Kim, and Nakyoung Chong, "RFID Based Collision-Free Robot Docking in Cluttered Environment," Progress In Electromagnetics Research, Vol. 110, 199-218, 2010.
doi:10.2528/PIER10091604
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