RFID-Based Localization of Mobile Robots Using the Received Signal Strength Indicator of Detected Tags

被引：0
|
作者：
Roehrig, Christof [1 ]
Hess, Daniel [1 ]
Kuenemund, Frank [1 ]
机构：
[1] Univ Appl Sci & Arts Dortmund, Intelligent Mobile Syst Lab, Otto Hahn Str 23, D-44227 Dortmund, Germany
来源：
ENGINEERING LETTERS | 2016年 / 24卷 / 03期
关键词：
RFID; RSSI; Mobile Robot; Localization; Pose Estimation; Constrained Kalman Filter;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Localization and tracking of mobile robots is an important issue for many industrial applications. The paper presents an inexpensive solution for indoor localization of mobile robots. Global localization is realized by interpreting the received signal strength indicator (RSSI) of RFID tags, which are integrated in the floor and detected by the reader. The paper presents two algorithms for fusing RFID signal strength measurements with odometry based on Kalman filtering. The paper presents experimental results with a Mecanum based omnidirectional mobile robot on a NaviFloor (R) installation, which includes passive HF RFID tags. The experiments show that the proposed algorithms provide a better performance compared to the same algorithms which consider the detection of the tags only.
引用
收藏
页码：338 / 346
页数：9
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