1. Autonomous navigation of a mobile robot based on passive RFID Source ： 16th IEEE International Conference on Robot & Human Interactive Communication Authors ： Sunhong.Park 、 Ryo Saegusa and Shuji Hashimoto Speaker ：余俊瑩 Advisor ：洪國寶 老師 Date ： 98.12.08 1

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3.  The proposed method estimates not only the position but also its autonomous orientation without other sensors by using the detected sequential IC tag information.  Only need the position information but not the orientation information.  For the aged and the disabled person. 3

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5. (1)Mobile base 5 UBIRO(Ubiquitous Robot) free servomotor 1.The DC servo motors are controlled with DA board for navigation based on the previous tag ID and the present tag ID read by the antenna scan. 2.The movement distance of robot is influenced by front wheels shape and sliding with floor.

6. 6 (2)RFID

7. 7 Step1: Initial position and goal position Step2:Gets IC tags from the RFID system Step3:Control the mobile base Central controller

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9. 9 Forecasted trajectory of the robot

10. 10 The movement distance of robot is influenced by front wheels shape and sliding with floor.

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16. 16 Case 1: The goal at the edge of the IC tag field

17. 17 Case 2: The goal in the IC tag field

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19.  The proposed method is that it realizes the navigation with the minimum information as the location information.  Consequently, we do not need any sensor which to get the information of pose.  And, when it combined a plural sensor, the robot can reach the goal even if other sensors are broken.  In the future, we aim for the robot to navigate in a more complicated environment, including obstacles by identifying IC tags.  Also, we are to discuss on optimized path planning algorithm by using the probability distribution model of the path trajectory in the space of IC tag. 19

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21.  This work was supported in part by the Korean Science and Engineering Foundation Grant funded by the Korean government (MOST) (No.D00202).  This work was also supported in part by the WABOT HOUSE project funded by Gifu prefecture and the 21st Century Center of Excellence Program in Waseda University. 21

22. 22 Thanks your attention