A Qualitative Approach to Mobile Robot Navigation Using RFID

Abstract

Radio Frequency Identification (RFID) system allows automatic identification of
\nitems with RFID tags using radio-waves. As the RFID tag has its unique identification number,
\nit is also possible to detect a specific region where the RFID tag lies in. Recently it is widely
\nbeen used in mobile robot navigation, localization, and mapping both in indoor and outdoor
\nenvironment. This paper represents a navigation strategy for autonomous mobile robot using
\npassive RFID system. Conventional approaches, such as landmark or dead-reckoning with
\nexcessive number of sensors, have complexities in establishing the navigation and localization
\nprocess. The proposed method satisfies less complexity in navigation strategy as well as
\nestimation of not only the position but also the orientation of the autonomous robot. In this
\nresearch, polar coordinate system is adopted on the navigation surface where RFID tags are
\nplaces in a grid with constant displacements. This paper also presents the performance
\ncomparisons among various grid architectures through simulation to establish a better solution
\nof the navigation system. In addition, some stationary obstacles are introduced in the
\nnavigation environment to satisfy the viability of the navigation process of the autonomous
\nmobile robot.