Estimation of a robot location using passive RFID tags in an indoor environment

초록

This paper presents methods of robot localization using recent Radio Frequency Identification technology. We consider an indoor environment where RFID (radio frequency identification) tags are implanted along the wall or in objects in the room. If the absolute position and orientation of a tag are read by an RF reader, a robot can estimate its location using the information saved in the tags. A reader-tag model is obtained through experiments in order to derive relative positions and orientations between a robot and an RFID tag. To estimate the location of robot, we propose two estimation methods. One uses a single RFID tag and the other uses multi-RFID tags. Experimental results show that the proposed methods can provide good performance for mobile-robot localization.