A hierarchical algorithm for indoor mobile robot localization using rfid sensor fusion


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ieee 2012 projects for m tech btech ece eee embedded systems@ srcembedded solutions- hyderabad.
ph-8297 313 858

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A hierarchical algorithm for indoor mobile robot localization using rfid sensor fusion

  1. 1. A HIERARCHICAL ALGORITHM FOR INDOOR MOBILE ROBOT LOCALIZATION USING RFID SENSOR FUSION Introduction: This paper addresses radio-frequency identification (RFID)-based mobile robot localization which adopts RFID tags distributed in a space. Existing stand-alone RFID systems for mobile robot localization are hampered by many uncertainties. Therefore, we propose a novel algorithm that improves the localization by fusing an RFID system with an ultrasonic sensor system. The proposed system partially removes the uncertainties of RFID systems by using distance data obtained from ultrasonic sensors. We process using an RFID system and a local environment cognition (LEC) process using ultrasonic sensors. Then, a hierarchical localization algorithm is proposed to estimate the mobile robot using LEC. Finally, the utility of the proposed algorithm is demonstrated through experiments. Existing System: In existing system robotic is more expensive and not compact and here It has been predicted that indoor mobile robots will be human-friendly robots that interact with people. To ensure the safety and stability of human–robot interaction, more accurate and precise mobile robot localization systems are essential. The classical system for mobile robots uses deadreckoning sensors such as GPS and gyroscopes. Proposed System: We estimate the position of the mobile robot through the matching of the RFID tags unique ID. The global position of the mobile robot as obtained from the RFID system is always estimated without reference to any obstacles. The proposed system utilizes RFID based localization without using GPS receiver. The RFID tags are patched in floor and the robot has the RFID reader connected to it. Whenever the RFID reader nears a tag, it reads the data from the tag. The position coordinate of the tag is previously stored in the microcontroller. According to the data received from tag, position coordinate is estimated. Thus, we can control the robot using the RF communication with keypad interfaced to it. Estimated position is sent to the control
  2. 2. section through Zigbee and displayed in the LCD. For obstacle avoidance a ultrasonic sensor is interfaced with robot, whenever the robot detects an obstacle it sends message to the control section through the Zigbee communication. Block Diagram: Control Section: Power supply AT89C51 LCD Microcontroller RF Transmitter Encoder
  3. 3. Robot Section: RFID Tag’s Power supply RFID Reader MAX232 AT89C51 Decoder RF Receiver Microcontroller DC Motor Ultrasonic Sensor Signal condition Circuit Motor Driver DC Motor
  4. 4. Hardware Requirements:  8051Microcontroller  RF Transmitter & Receiver  Zigbee Transceiver  RFID Reader  Ultrasonic Sensor  ULN2003 Relay Driver  LCD & Keypad  Robot Mechanism Software Requirements:  Keil Compiler  Embedded C Advantages:  The robot can be controlled from remote areas without using GPS receiver.  It can able to obtain the position of the mobile robot without any constraint from the environment.