Localisation and navigation in GPS-denied environments using RFID tags

This dissertation addresses the autonomous localisation and navigation problem in the context of an underground mining environment. This kind of environment has little or no features as well as no access to GPS or stationary towers, which are usually used for navigation. In addition dust and debris may hinder optical methods for ranging. This study looks at the feasibility of using randomly distributed RFID tags to autonomously navigate in this environment. Clustering of observed tags are used for localisation, subsequently value iteration is used to navigate to a defined goal. Results are presented, concluding that it is feasible to localise and navigate using only RFID tags, in simulation. Localisation feasibility is also confirmed by experimental measurements.

Grantor dc:publisher.institution

Department of Mechanical Engineering

Year dc:date.issued

2014

Author dc:creator

• James, Sisa

Advisors dc:contributor.advisor

• Verrinder, Robyn A
• Sabatta, Deon
• Shahdi, Ali

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/11427/13281

OAI identifier oai:identifier

oai:open.uct.ac.za:11427/13281