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Mobile Robot Localization by RFID Method

Authors:
Ya-Chuan Chen
Jung-Hua Chou

Keywords: RFID technology, RSSI, LQI, indoor positioning, mobile robot

Abstract:
This paper explores the merits of the indoor positioning system using Radio-frequency identification (RFID) technology for mobile robots. The indoor positioning function by the Received Signal Strength Indicator (RSSI) and the Link Quality Indicator (LQI) method is developed first to determine the location of the robot. The RSSI and the LQI based indoor positioning system employs wireless signal intensities to build the intensity distribution map and compares the signal intensity of the transmitters obtained by the receivers to determine the location of the robot. In the end, the implementation is to use a predetermined indoor environment, which is set up beforehand to validate the RFID based indoor positioning system developed by a mobile robot. Validation results show that the precision of the positioning system in one-dimensional is 10 cm and the average accuracy rate is 97.23%. The precision of the positioning system in two-dimensional is 10cm x 10cm and the average accuracy rate is 79.73%. Finally, the average error of the robot tracking in two-dimensional is 14.16cm.

Pages: 33 to 38

Copyright: Copyright (c) IARIA, 2012

Publication date: April 29, 2012

Published in: conference

ISSN: 2308-3964

ISBN: 978-1-61208-193-9

Location: Chamonix, France

Dates: from April 29, 2012 to May 4, 2012