Performance analysis of mobile robot self-localization based on different configurations of RFID system

摘要

This paper analyzes the MCL (Monte Carlo Localization)performances of an omnidirectional vehicle based onan RFID system with multiple readers at the bottom of a vehicleand the tags on the floor with different configurations of RFIDsystem. This paper also proposes a method of reinitializingof the particles in the MCL and a likelihood function as themeasurement model that are specialized to the RFID based selflocalization.The simulations demonstrate that how accuratelythe self-localization works according to the changes of theRFID system’s configuration and how the definition of thelikelihood function affects the accuracy. The results show thatthe self-localization based on MCL works accurately enough forrealistic situation even using less RFID readers on the vehicleand lower density IC tag textiles on the floor