Smart Floor with Learning Capability for Mobile Robot System
In this chapter, we suggest a new information space concept called “smart floor”. It is the floor storage of specific information designed for route guidance of a mobile robot. A mobile robot can reach its goal position using the information saved in smart floor as well as automatically update the information for a changing environment. We constructed smart floor using RFID tag packaging and fabricated a mobile robot mounted with a passive RFID tag in ultra high frequency (UHF) bandwidth. The passive RFID tag is inexpensive and does not require a power supply. The primary information stored in smart floor is direction-values and Q-values. These values are the resultant Q-learning method that is employed to guide a mobile robot form an arbitrary position to the goal position. This research will contribute to the development of various applications such as mobile robot applications.
KeywordsMobile Robot Path Planning Goal Position Route Guidance Location Recognition
This research was supported by a grant from the Construction Technology Innovation Program (CTIP) (No. 10CCTI-A050948-04) funded by the Ministry of Land, Transportation and Maritime Affairs (MLTM) of the Korean government, and the Industrial Strategic Technology Development Program (No. 10035544-2010-01) funded by the Ministry of Knowledge Economy (MKE), Korea. Also, This work was supported by the DGIST R&D Program of the Ministry of Education, Science and Technology of Korea (11-BD-01).
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