抄録
Accurate self-localization system is necessary for a mobile robot to work in a home environment. Studies of a indoor autonomous mobile robot often use vision sensors and laser range finders. It is difficult to estimate the exact global location if the environment has number of places that have similar shape boundaries or small number of landmarks to localize. Furthermore, it tends to take a long time to recover the self-localization estimation if it goes wrong at once. Self-localization system based on reading RFID-tags on floor is robust against changes of lighting condition, obstacles, furniture and doors conditions in the environment. This paper proposes a self-localization method based on multiple RFID readers and dense IC tag textile and shows its validity in a real environment.
