Mobile Robot Localization in Indoor Environment using RFID and Sonar Fusion System

Abstract

Localization of indoor environment is a fundamental issue for mobile robot. In this paper, we proposed the localization scheme to fusion the RFID localization system, ultrasonic sensor and wheel encoder. The uncertainty is factor caused by each localization system, and the estimation error is affected by this uncertainty. The sensor system for mobile robot localization is technical limitation such as sensing range, operation feature. Therefore we focus on sensor fusion scheme. When the mobile robot moves, certain data combination set to fuse is selected according to the environmental factor. The performance and simplicity of the approach is demonstrated with the result produced by experiments using mobile robot.