RFID-Based Localization of Mobile Robots Using the Received Signal Strength Indicator of Detected Tags

摘要

Localization and tracking of mobile robots is animportant issue for many industrial applications. The paperpresents an inexpensive solution for indoor localization ofmobile robots. Global localization is realized by interpreting thereceived signal strength indicator (RSSI) of RFID tags, whichare integrated in the floor and detected by the reader. Thepaper presents two algorithms for fusing RFID signal strengthmeasurements with odometry based on Kalman filtering. Thepaper presents experimental results with a Mecanum basedomnidirectional mobile robot on a NaviFloorfi installation,which includes passive HF RFID tags. The experiments showthat the proposed algorithms provide a better performancecompared to the same algorithms which consider the detectionof the tags only.