RFID based Mobile Robot Localization and Pseudorandom Tag Arrangement

AbstractIn passive RFID environment, this paper presents an efficient mobile robot localization and a pseudorandom tag arrangement for improved performance. It is assumed that a mobile robot travels along a series of linear segments, each at a constant velocity, and the number of tags sensed at once is at most one. First, using the spatio-temporal information during tag traversing, a simple but effective mobile robot localization method is developed. Second, three representative tag arrangements, including square, parallelogram, and tilted square, are examined. Special attention is given to the problem of long navigation without tag sensing, so called tag invisibility. Taking into account both tag invisibility and tag installation, a pseudorandom tag arrangement, inspired from the Sudoku puzzle, is proposed. To demonstrate the validity of the proposed mobile robot localization system, some experimental results are given.