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Transport services on indoor map generating system using spatially distributed RFID tags for home environment

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6 Author(s)
Kodaka, K. ; WABOT-House Lab., Waseda Univ., Tokyo, Japan ; Niwa, H. ; Sakamoto, Y. ; Otake, M.
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This paper proposes a methodology for generating an indoor map of the home environment using widely installed RFID tags, which is being experimentally developed in the model room in the WABOT-HOUSE Laboratory. Our laboratory is studying a system that generates and renews an environmental map of a room in real time in cooperation with three subsystems: a tag infrastructure where many RFID (Radio Frequency Identification) tags are widely installed over the environment, indoor RT(Robot Technology) modules, such as robots and furniture with embedded computing technology, and a home server module that monitors their spatial information. In this paper, we describe the basic concept and contents of the system, then we propose a method of localizing the robot and of moving to a destination while avoiding obstacles. Finally we report an experiment on which the robot succeed in advancing to a resident in the room, as an example of transport services making use of our system.

Published in:

Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on

Date of Conference:

14-17 July 2009