Auto-localization system for indoor mobile robot using RFID fusion

作者：Abdelgawad A^*

来源：Robotica, 2015, 33(9): 1899-1908.

DOI：10.1017/S0263574714001106

• Automation
• Control of robotic systems
• Design
• Mobile robots
• Robot localization
• Sensor networks

Autonomous mobile robots need accurate localization techniques to perform assigned task. Radio Frequency Identification Technology (RFID) has become one of the main means to construct a real-time localization system. Localization techniques in RFID rely on accurate estimation of the read range between the reader and the tags. This paper proposes an auto-localization system for indoor mobile robot using passive RFID. The proposed system reads any three different RFID tags which have a known location. The current location can be estimated using the Time Difference of Arrival (TDOA) scheme. In order to improve the system accuracy, the proposed system fuses the TDOA scheme for the three tags. A Kalman filter is used to minimize the estimated error and predict the next location. The simulation results validate the proposed framework.

• 出版日期2015-11