A Standalone RFID-Based Mobile Robot Navigation Method Using Single Passive Tag

Haibing Wu

doi:10.1109/TASE.2020.3008187

2021-10-01

PRE

DOI：10.1109/TASE.2020.3008187

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摘要

En 中文

This article proposes a standalone radio frequency identification (RFID)-based mobile robot navigation method, in which a mobile robot equipped with reader antennas can be continuously guided to a static object marked with a single passive UHF RFID tag. An observation model based on the RFID phase difference is built and integrated into a particle filter, by which the instantaneous relative position between the mobile robot and the tagged object can be detected in real time. Based on the position information extracted from the RFID system, the mobile robot adjusts its pose to move toward the RFID-tagged object. Compared with the existing RFID-based mobile robot navigation methods, the proposed method requires no external sensors other than the RFID and requires only a single passive tag. Experiments using commercial off-the-shelf (COTS) RFID devices are performed, and the results indicate that the mobile robot can satisfactorily realize navigation task with a distance accuracy of 4.04 cm and a bearing accuracy of 2.23 degrees. The proposed method is well applicable for the navigation scenes in which the absolute position of the tagged target object is not known beforehand. Note to Practitioners-UHF radio frequency identification (RFID) has been widely applied as an asset management ID sensor in many fields. RFID-based mobile robot navigation technology can further increase its application value as a location sensor. This article proposes a standalone RFID-based mobile robot navigation method, in which the reference tag and the external sensors other than RFID are both not required. In the proposed method, only a single passive tag is attached to the static target object. Experimental results indicate that the proposed method can enable navigation task with good performance in situations in which the absolute navigation goal position is not known in advance.

Keyword:

Radiofrequency identification

Navigation

Mobile robots

Task analysis

Robot sensing systems

Mobile robot

radio frequency identification (RFID)

RFID localization

RFID navigation

UHF RFID