Three-Wheeled Omnidirectional Robot Localization in RFID-Tag Environments using UFIR Filtering

Abstract

This paper describes a way to improve the indoor navigation of mobile robots using radio frequency identification (RFID) technology. A net of RFID tags is deployed in the navigation space. A measurement system measures distances from the tags to the robot with in the presence of the firstorder Markov-Gauss colored measurement noise (CMN) and is combined with a digital gyroscope to measure the robot heading. To increase the localization accuracy, the Kalman filter (KF) and unbiased finite impulse response (UFIR) modified for CMN are used. It is shown that the navigation system developed is more accurate than the basic one employing the standard KF and UFIR filter