SLAM-R Algorithm of Simultaneous Localization and Mapping Using RFID for Obstacle Location and Recognition
This paper presents an algorithm of simultaneous localization and mapping (SLAM) with a scanning laser range finderand radiofrequency identification technology (RFID) to include landmarks of an object or place within a generatedmap. For the testing phase was used of simulation software Anykode’s Mar...
| Autores: | , , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2014 |
| País: | México |
| Institución: | UNIVERSIDAD NACIONAL AUTÓNOMA DE MÉXICO |
| Repositorio: | Journal of Applied Research and Technology |
| Idioma: | inglés |
| OAI Identifier: | oai:ojs2.localhost:article/215 |
| Acceso en línea: | https://jart.icat.unam.mx/index.php/jart/article/view/215 |
| Access Level: | acceso abierto |
| Palabra clave: | SLAM Mobile Robot RFID Navigation Simulation |
| Sumario: | This paper presents an algorithm of simultaneous localization and mapping (SLAM) with a scanning laser range finderand radiofrequency identification technology (RFID) to include landmarks of an object or place within a generatedmap. For the testing phase was used of simulation software Anykode’s Marilou and was used to build a virtual mobilerobot with the features of the Pionner 3-AT, including a Hokuyo URG-04X scanning laser range finder and anInnovations RFID ID-12 reader. Validation of results was carried out with the cycle closure process to obtain theaverage error of the navigation path, resulting on an error of less than 50mm. |
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