Development of self-localizer using collaboration of trilateration and triangulation

This paper was performed to technically implement a sensing platform for Home-Wellness Robot. The self-Localization of an indoor mobile robot is very important for the sophisticated trajectory control. In this paper, the robot´s self-localization algorithm was designed by using an RF sensor network and fuzzy inference. The robot realizes its self-localization, using RFID sensors, through the collaboration algorithm which uses fuzzy inference for combining the strengths of triangulation and triangulation. For the triangulation self-Localization, RSSI is implemented. TOA method is used for realizing the triangulation self-localization. The final improved position is, through fuzzy inference, made by the fusion algorithm of the resultant coordinates from trilateration and triangulation in real time. In this paper, good performance of the proposed self-localization algorithm is confirmed through the results of a variety of experiments in the base of RFID sensor network and reader system.