SLAM-R Algorithm of Simultaneous Localization and Mapping Using RFID for Obstacle Location and Recognition

This paper presents an algorithm of simultaneous localization and mapping (SLAM) with a scanning laser range finder and radiofrequency identification technology (RFID) to include landmarks of an object or place within a generated map. For the testing phase was used of simulation software Anykode’s Marilou and was used to build a virtual mobile robot with the features of the Pionner 3-AT, including a Hokuyo URG-04X scanning laser range finder and an Innovations RFID ID-12 reader. Validation of results was carried out with the cycle closure process to obtain the average error of the navigation path, resulting on an error of less than 50mm.