LOCALIZATION IN LARGE-SCALE UNDERGROUND ENVIRONMENTS WITH RFID

被引：0
|
作者：
Rusu, S. Radacina [1 ]
Hayes, M. J. D. [1 ]
Marshall, J. A. [2 ]
机构：
[1] Carleton Univ, Dept Mech & Aerosp Engn, Ottawa, ON K1S 5B6, Canada
[2] Queens Univ, Robert M Buchan Dept Min, Kingston, ON K7L 3N6, Canada
来源：
2011 24TH CANADIAN CONFERENCE ON ELECTRICAL AND COMPUTER ENGINEERING (CCECE) | 2011年
基金：
加拿大自然科学与工程研究理事会;
关键词：
Robot localization; RFID; filtering;
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
Localization using satellite-based GPS is not available in underground mines, therefore a new approach is required. This paper presents a method for localizing a sensor-equipped vehicle in a large-scale underground environment by using a particle filter and a collection of 2D a priori node maps. Sporadically placed passive RFID tags are used in the creation of the locally consistent node maps and for helping to solve the global localization problem. Experimental results from real-time localization in the multi-kilometre Carleton University underground tunnels are presented.
引用
收藏
页码：1140 / 1143
页数：4
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