A Cost-Efficient Hybrid UHF RFID and Odometry-Based Mobile Robot Self-Localization Technique With Centimeter Precision

Abstract

This paper presents an indoor localization approach that determines the absolute position of a mobile robot platform with centimeter precision by fusing RFID localization results based on cost-effective, standard passive UHF RFID technology with the robot's odometry data. The mobile robot platform is equipped with a multistatic UHF RFID interrogation system, and several RFID tags are arbitrarily placed within the localization environment, serving as landmarks. The RFID localization concept is based on phase evaluations. To overcome the problem of ambiguous position estimations due to the 2πphase ambiguity of the RFID signal phase and mitigate the linearization problem of the nonlinear system, a novel algorithm based on an iterative multihypothesis Kalman filter is introduced. A realistic simulation setup is developed to validate the proposed filter algorithm. By tracking a UHF RFID-equipped mobile robot platform in a real-world office environment, the proposed approach is also practically tested in terms of real-time capability, everyday suitability, and multipath resistance. Given that centimeter precision is only achieved in environments with weak multipath propagation, the RFID localization results are fused with odometry data provided by the robot. This effectively compensates for offset and drift in the odometry sensor, achieving a root-mean-square localization error of 2.7 cm.

An Adaptive Control Algorithm Based on Q-Learning for UHF Passive RFID Robots in Dynamic Scenarios

“…In this paper, the cross-validation method is used to optimize the parameters of the KNN model. The value range of K is [1,14]; the distance weight can choose uniform and distance, uniform means that the distance weight is not considered, and distance means that the weight and distance are inversely relationship. Bring these two parameters into the above algorithm to obtain the optimal parameter combination.…”

“…[13] proposes a UHF-RFID mobile robot platform, which uses eight parallel channels for multiple-input multiple-output localization and uses threedimensional product maps for inventory counting but does not consider the identification efficiency and time. In addition, more RFID robots are used for positioning, rather than for object identification in dynamic scenarios [14][15][16].…”

Closed-Loop Optical Tracking of a Micro-Conveyor over a Smart Surface

“…The target holds an RFID reader and receives radio signals from multiple tags that are distributed in the robot environment at known positions. The target's position can be calculated by applying triangulation method [7]. In [8], the target is localized using RFID technologies with a positioning accuracy equal to 15 cm for a range of tenth of meter order.…”