dc.contributor.author |
James, S
|
|
dc.contributor.author |
Verrinder, RA
|
|
dc.contributor.author |
Sabatta, D
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|
dc.contributor.author |
Shahdi, A
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|
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
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|
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 |