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Localisation and mapping in GPS-denied environments using RFID tags

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dc.contributor.author James, S
dc.contributor.author Verrinder, RA
dc.contributor.author Sabatta, D
dc.contributor.author Shahdi, A
dc.date.accessioned 2013-02-04T07:57:30Z
dc.date.available 2013-02-04T07:57:30Z
dc.date.issued 2012-09
dc.identifier.citation James, S, Verrinder, R.A, Sabatta, D and Shahdi, A. 2012. Localisation and mapping in GPS-denied environments using RFID tags. In: ROBMECH 2012: 5th Robotics and Mechatronics Conference of South Africa, CSIR Convention Centre, Pretoria, 26-27 November 2012 en_US
dc.identifier.uri www.robmech.co.za/
dc.identifier.uri http://hdl.handle.net/10204/6517
dc.description ROBMECH 2012: 5th Robotics and Mechatronics Conference of South Africa, CSIR Convention Centre, Pretoria, 26-27 November 2012 en_US
dc.description.abstract This research addresses the Simultaneous Localization and Mapping (SLAM) problem in the context of an underground mining environment. This would allow autonomous vehicle navigation in this hazardous setting. This environmental setting has few features and no access to GPS or stationary towers, which are typically used for navigation in mobile robots. In addition, dust and debris may hinder optical methods for ranging. This study investigates using randomly distributed RFID tags to autonomously localize and navigate in such environments. Localization is performed by clustering the observed tags. Value iteration is then utilized to navigate the mobile robot to the defined goal. The simulation results demonstrate that this method is an effective means of navigation and localization in an underground setting. en_US
dc.language.iso en en_US
dc.publisher Robmech en_US
dc.relation.ispartofseries Workflow;9966
dc.subject Navigation en_US
dc.subject Simultaneous Localization and Mapping en_US
dc.subject SLAM en_US
dc.subject Underground mining en_US
dc.subject Autonomous vehicle navigation en_US
dc.title Localisation and mapping in GPS-denied environments using RFID tags en_US
dc.type Conference Presentation en_US
dc.identifier.apacitation James, S., Verrinder, R., Sabatta, D., & Shahdi, A. (2012). Localisation and mapping in GPS-denied environments using RFID tags. Robmech. http://hdl.handle.net/10204/6517 en_ZA
dc.identifier.chicagocitation James, S, RA Verrinder, D Sabatta, and A Shahdi. "Localisation and mapping in GPS-denied environments using RFID tags." (2012): http://hdl.handle.net/10204/6517 en_ZA
dc.identifier.vancouvercitation James S, Verrinder R, Sabatta D, Shahdi A, Localisation and mapping in GPS-denied environments using RFID tags; Robmech; 2012. http://hdl.handle.net/10204/6517 . en_ZA
dc.identifier.ris TY - Conference Presentation AU - James, S AU - Verrinder, RA AU - Sabatta, D AU - Shahdi, A AB - This research addresses the Simultaneous Localization and Mapping (SLAM) problem in the context of an underground mining environment. This would allow autonomous vehicle navigation in this hazardous setting. This environmental setting has few features and no access to GPS or stationary towers, which are typically used for navigation in mobile robots. In addition, dust and debris may hinder optical methods for ranging. This study investigates using randomly distributed RFID tags to autonomously localize and navigate in such environments. Localization is performed by clustering the observed tags. Value iteration is then utilized to navigate the mobile robot to the defined goal. The simulation results demonstrate that this method is an effective means of navigation and localization in an underground setting. DA - 2012-09 DB - ResearchSpace DP - CSIR KW - Navigation KW - Simultaneous Localization and Mapping KW - SLAM KW - Underground mining KW - Autonomous vehicle navigation LK - https://researchspace.csir.co.za PY - 2012 T1 - Localisation and mapping in GPS-denied environments using RFID tags TI - Localisation and mapping in GPS-denied environments using RFID tags UR - http://hdl.handle.net/10204/6517 ER - en_ZA


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