Hardware in The Loop Simulation for robot Navigation with RFID

Abstract

The main goal of this article is to propose a software architecture allowing the integration of RFID (Radio Frequency Identification ) sensors in the motion strategy for a simulated mobile robot. RFID systems are composed of antennas, readers and Tags. Passive RFID Tag consists of a memory storing information. The reader reads/writes information from/on the Tags through the antennas. In robotic context, the Tags contain information about the environment surrounding the robot such as obstacles, humans, other robots, and different types of objects etc. The RFID system reads Tags data, and controls the movement of the simulated mobile robot consequently (stops, changes its velocity, regulating its speed, setting a new destination …) based on the information stored in the Tags. Hardware In the Loop Simulation (HILS) system is proposed. The RFID device is the hardware system and the virtual mobile robot is the Simulated system.