Table of Contents
ISRN Robotics
Volume 2014, Article ID 198569, 10 pages
Research Article

Contextual Awareness in a WSN/RFID Fusion Navigation System

1Department of Advanced Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku, Tokyo 169-8555, Japan
2Korea Automotive Technology Institute, 303 Pungse-ro, 303 Pungse-ro, Pungse-Myeon, Dongnam-gu, Cheonan-si, Chungnam 330-912, Republic of Korea

Received 9 December 2013; Accepted 31 December 2013; Published 4 March 2014

Academic Editors: J.-S. Liu and K. Watanabe

Copyright © 2014 Guillermo Enriquez et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We present insight into how contextual awareness can be derived from, and improve, a fusion algorithm combing a WSN and a passive RFID for autonomous mobile robot navigation. Contextual awareness of not where the robot is, but rather the context in which it exists in relation to the environment and human user serves to improve accuracy in navigation, alters the speed of the robot, and modifies its behavior. The WSN system, using a virtual potential field, provides fast general navigation in open areas and the RFID provides precision navigation near static obstacles and in narrow areas. We verified the effectiveness of our approaches through navigational and guidance experiments.