Underground navigation and localisation using RFID tags
Sisa James, RA Verrinder, Deon Sabatta, Ali Shahdi · 2012
I. PROBLEM STATEMENT One of the major issues in the field of mobile robotics is localisation and navigation in an unknown environment. These tasks become even more challenging in an underground environment where no GPS signals or stationary landmark towers are available. This paper intends to tackle these challenges by using RFID tags, randomly distributed throughout the area, as landmarks. In future, the vehicle may place the tags in real-time by using an optimisation method to choose their locations. The paper will build on previous work done by Forster[8] and Vorst et al.[9] by implementing the proposed hybrid SLAM method on the mining safety platform, which will eventually be used in an underground environment.