Abstract
Radio frequency identification (RFID) technology has already been explored for efficient self-localization of indoor mobile robots. A mobile robot equipped with RFID readers detects passive RFID tags installed on the floor in order to locate itself. The Monte-Carlo localization (MCL) method enables the localization of a mobile robot equipped with an RFID system with reasonable accuracy, sufficient robustness and low computational cost. The arrangements of RFID readers and tags and the size of antennas are important design parameters for realizing accurate and robust self-localization using a low-cost RFID system. The design of a likelihood model of RFID tag detection is also crucial for the accurate self-localization. This paper presents a novel design and arrangement of RFID readers and tags for indoor mobile robot self-localization. First, by considering small-sized and large-sized antennas of an RFID reader, we show how the design of the likelihood model affects the accuracy of self-localization. We also design a novel likelihood model by taking into consideration the characteristics of the communication range of an RFID system with a large antenna. Second, we propose a novel arrangement of RFID tags with eight RFID readers, which results in the RFID system configuration requiring much fewer readers and tags while retaining reasonable accuracy of self-localization. We verify the performances of MCL-based self-localization realized using the high-frequency (HF)-band RFID system with eight RFID readers and a lower density of RFID tags installed on the floor based on MCL in simulated and real environments. The results of simulations and real environment experiments demonstrate that our proposed low-cost HF-band RFID system realizes accurate and robust self-localization of an indoor mobile robot.
Highlights
Most of the developed countries are facing the problems of the aging of the human population and labor shortage
We verify the performances of Monte-Carlo localization (MCL)-based self-localization realized using the high-frequency (HF)-band Radio frequency identification (RFID) system with eight RFID readers and a lower density of RFID tags installed on the floor based on MCL in simulated and real environments
This paper proposes a novel configuration of a high frequency (HF)-band RFID system that employs fewer RFID readers, has a low density of passive tags and a low production cost and that maintains the self-localization accuracy
Summary
Most of the developed countries are facing the problems of the aging of the human population and labor shortage. The accuracy of self-localization depends on the density of tags; a high density of tags is required for accurate self-localization Another method is based on a machine learning approach [11]; the RFID system is adversely affected by obstacles surrounding the reader and tags. The production cost of this RFID system with 96 RFID readers is relatively high This drawback prevents widespread utilization of an RFID-based self-localization system in service robots employed in public facilities, such as those serving in hospitals. This paper proposes a novel configuration of a high frequency (HF)-band RFID system that employs fewer RFID readers, has a low density of passive tags and a low production cost and that maintains the self-localization accuracy. (a) Omni directional vehicle; (b) structure; (c) multiple readers; (d) self-localization model
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