Shop : Verlinkung
Shop
Verlinkung
45,80 €ISBN 978-3-8440-4636-6Paperback152 Seiten44 Abbildungen224 g21 x 14,8 cmEnglischDissertation
August 2018
Neuerscheinung
Ran Liu
Mapping, Path Following, and Perception with Long Range Passive UHF RFID for Mobile Robots
Due to the low-cost and contactless way of communication, radio-frequency identification (RFID) technology provides a solution to overcome the difficulties (e.g. occlusions) that the traditional line of sight sensors (e.g. cameras and laser range finders) face. In this thesis, we address the applications of using passive ultra high frequency (UHF) RFID as a sensing technology for mobile robots in three fundamental tasks, namely mapping, path following, and tracking.
In this thesis, we address the problem of recovering from mapping failures of static RFID tags and localizing non-static RFID tags which do not move frequently using a particle filter. The usefulness of negative information (e.g. non-detections) is also examined in the context of mapping RFID tags. Moreover, we present a novel three dimensional (3D) sensor model to improve the mapping accuracy of RFID tags. Second, we present a novel approach that combines RFID fingerprints and odometry information as an input of the motion control of a mobile robot for the purpose of path following in unknown environments. Last, we address the problem of tracking dynamic objects for mobile robots using RFID tags. To achieve this, we combine a two stage dynamic motion model with the dual particle filter, to capture the dynamic motion of the object and to quickly recover from failures in tracking. The state estimation from the particle filter is used in a combination with the VFH+ (Vector Field Histogram), which serves as a local path planner for obstacle avoidance, to guide the robot towards the target.
In this thesis, we address the problem of recovering from mapping failures of static RFID tags and localizing non-static RFID tags which do not move frequently using a particle filter. The usefulness of negative information (e.g. non-detections) is also examined in the context of mapping RFID tags. Moreover, we present a novel three dimensional (3D) sensor model to improve the mapping accuracy of RFID tags. Second, we present a novel approach that combines RFID fingerprints and odometry information as an input of the motion control of a mobile robot for the purpose of path following in unknown environments. Last, we address the problem of tracking dynamic objects for mobile robots using RFID tags. To achieve this, we combine a two stage dynamic motion model with the dual particle filter, to capture the dynamic motion of the object and to quickly recover from failures in tracking. The state estimation from the particle filter is used in a combination with the VFH+ (Vector Field Histogram), which serves as a local path planner for obstacle avoidance, to guide the robot towards the target.
Schlagwörter: UHF RFID; Mapping; Path Following; Tracking
Link zum Buch
Kopieren Sie einfach folgende Zeilen in Ihr HTML-Dokument:
Das Buch <a href="https://www.shaker.de/shop/978-3-8440-4636-6">Ran Liu - Mapping, Path Following, and Perception with Long Range Passive UHF RFID for Mobile Robots</a><br />(ISBN: 978-3-8440-4636-6) wurde im <a href="https://www.shaker.de">Shaker Verlag</a> veröffentlicht.
Ergebnis:
Das Buch Ran Liu - Mapping, Path Following, and Perception with Long Range Passive UHF RFID for Mobile Robots
(ISBN: 978-3-8440-4636-6) wurde im Shaker Verlag veröffentlicht.
(ISBN: 978-3-8440-4636-6) wurde im Shaker Verlag veröffentlicht.
Link zur Reihe
Kopieren Sie einfach folgende Zeilen in Ihr HTML-Dokument:
Die Reihe <a href="https://www.shaker.de/Reihe/123">Berichte aus der Robotik</a> erscheint im <a href="https://www.shaker.de">Shaker Verlag</a>.
Ergebnis:
Die Reihe Berichte aus der Robotik
erscheint im Shaker Verlag.
Shaker Verlag GmbH
Am Langen Graben 15a
52353 Düren
Am Langen Graben 15a
52353 Düren
Mo. - Do. 8:00 Uhr bis 16:00 Uhr
Fr. 8:00 Uhr bis 15:00 Uhr
Fr. 8:00 Uhr bis 15:00 Uhr
Kontaktieren Sie uns. Wir helfen Ihnen gerne weiter.
