Obstacle localization for a nonholonomic mobile robot based on RFID technology

Abstract

Obstacle recognition of mobile robot is main topic in order to navigate a mobile robot to perform a service task at facilities or at home. In this paper, a novel method of indoor environmental obstacle recognition for mobile robot by using RFID (radio frequency identification) system is proposed as it is inexpensive, flexible and easy to use in the practical environment. Because the information (such as kinds, color, shape or size of the obstacles, the environment) can be written in ID tags in advance, the proposed method enables the obstacles recognition easily and quickly. The antenna directivity of RFID is not stable, so we introduce Bayes rule and build RFID probability model to calculate the probability where the ID tag exists after the tag reader detects a tag. This paper introduces the architecture of the proposed method and some experimental results.