NDLI: Mobile Robot Localization Using the Phase of Passive UHF RFID Signals

Content Provider	IEEE Xplore Digital Library
Author	DiGiampaolo, E. Martinelli, F.
Copyright Year	1982
Abstract	This paper presents a global localization system for an indoor autonomous vehicle equipped with odometry sensors and a radio-frequency identification (RFID) reader to interrogate tags located on the ceiling of the environment. The RFID reader can measure the phase of the signals coming from responding tags. This phase has non-univocal dependence on the distance robot tag, but in the considered frequency, it is really sensitive to a change in the position of the robot. For this reason, a multihypothesis Kalman filtering approach provides a really satisfactory performance even in the case that a very small density of tags is used: In the experimental tests, an average position estimation error of about 4 cm is achieved using only two tags for an area of about 5 m².
Sponsorship	IEEE Industrial Electronics Society
Starting Page	365
Ending Page	376
Page Count	12
File Size	1609180
File Format	PDF
ISSN	02780046
Volume Number	61
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Phase measurement Antennas Radiofrequency identification Antenna measurements Mobile robots Accuracy UHF RFID Continuous-wave radar global localization multihypothesis Kalman filtering
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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