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RFID sensor deployment using differential evolution for indoor mobile robot localization

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5 Author(s)
Joon-Hong Seok ; Dept. of Electr. Eng., KAIST, Daejeon, South Korea ; Joon-Yong Lee ; Changmok Oh ; Ju-Jang Lee
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This paper presents the sensor deployment method to design a RFID sensor network for the mobile robot localization using evolutionary approach. For this purpose, we employ the differential evolution (DE), which is well-known for promising performance. We propose two variation methods, the direct optimization strategy for the maximum usage of initial information intuitively and the full coverage optimization strategy for the dense coverage for the surveillance and the security. In that case, the proper tuning of parameters of DE is essential. We experiment sensor deployment in two maps for providing guidance about parameter tuning. The experimental results show better sensor deployment result according to guided parameter setting. The full coverage optimization strategy also shows proper result using guided parameters from the standard DE case.

Published in:

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Date of Conference:

18-22 Oct. 2010