SLAM-R Algorithm of Simultaneous Localization and Mapping Using RFID for Obstacle Location and Recognition

 

R. Lemus, S. Díaz, C. Gutiérrez, D. Rodríguez and F. Escobar

 

Group of Systems Engineering and Robotics, Instituto Tecnológico de Toluca, Metepec, Estado de México, México. ralego2005@gmail.com

 

ABSTRACT

This paper presents an algorithm of simultaneous localization and mapping (SLAM) with a scanning laser range finder and radiofrequency identification technology (RFID) to include landmarks of an object or place within a generated map. For the testing phase was used of simulation software Anykode's Marilou and was used to build a virtual mobile robot with the features of the Pionner 3-AT, including a Hokuyo URG-04X scanning laser range finder and an Innovations RFID ID-12 reader. Validation of results was carried out with the cycle closure process to obtain the average error of the navigation path, resulting on an error of less than 50mm.

Keywords: SLAM, Mobile Robot, RFID, Navigation, Simulation.

 

RESUMEN

Este artículo presenta un algoritmo de localización y mapeo simultáneos (SLAM) con telémetro láser y un identificador de radiofrecuencia (RFID), con el propósito de incluir la referencia de un objeto o lugar dentro del mapa generado. Para la experimentación se utilizó el software de simulación Anykode Marilou, mediante el cual se construyó un robot móvil virtual con las características del Pionner 3-DX, con un telémetro láser Hokuyo URG-04X y el lector RFID ID-12 de Innovations. La validación de los resultados se realizó con el proceso de cierre de ciclo, con el fin de obtener el error promedio del recorrido de navegación, logrando un error menor a los 50 mm.

 

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