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Indoor robot localization based on single RFID tag

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Abstract

With the mature of the RFID technology and the wide use of the Internet of Things technology, it is a new research hotspot that RFID technology was applied to robot localization and navigation. RFID tags have the characteristic of storing information, long reading distance and using conveniently. A novel robot localization method combining RFID with laser data is proposed in this paper. When the robot detects an RFID tag, RFID antenna angle probability model is determined based on the fuzzy reasoning algorithm. Then the Bayes rule is used to estimate the direction of the robot. Finally, the robot global localization is realized by fusion of the laser ranging data. The experimental results showed that the precision of the positioning based on single RFID tag is enhanced greatly by combining laser detecting data.

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Acknowledgements

This paper is supported by Natural Science Foundation of Shandong Province ZR2015FM007 and ZR2017MF014, Shandong major research plan Project 2015GGX103034 and 2015ZDXX0101F03National Natural Science Foundation of China 61573216, and the Taishan Scholars Program of Shandong Province.

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Authors and Affiliations

  1. School of Control Science and Engineering, Shandong University, Jinan, China

    Hao Wu, Xiaojian Wu & Guohui Tian

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  1. Hao Wu
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  2. Xiaojian Wu
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  3. Guohui Tian
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Correspondence to Guohui Tian.

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Wu, H., Wu, X. & Tian, G. Indoor robot localization based on single RFID tag. Artif Life Robotics 23, 373–379 (2018). https://doi.org/10.1007/s10015-018-0449-7

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