NDLI: Finding and navigating to household objects with UHF RFID tags by optimizing RF signal strength

Content Provider	IEEE Xplore Digital Library
Author	Deyle, T. Reynolds, M.S. Kemp, C.C.
Copyright Year	2014
Abstract	We address the challenge of finding and navigating to an object with an attached ultra-high frequency radio-frequency identification (UHF RFID) tag. With current off-the-shelf technology, one can affix inexpensive self-adhesive UHF RFID tags to hundreds of objects, thereby enabling a robot to sense the RF signal strength it receives from each uniquely identified object. The received signal strength indicator (RSSI) associated with a tagged object varies widely and depends on many factors, including the object's pose, material properties and surroundings. This complexity creates challenges for methods that attempt to explicitly estimate the object's pose. We present an alternative approach that formulates finding and navigating to a tagged object as an optimization problem where the robot must find a pose of a directional antenna that maximizes the RSSI associated with the target tag. We then present three autonomous robot behaviors that together perform this optimization by combining global and local search. The first behavior uses sparse sampling of RSSI across the entire environment to move the robot to a location near the tag; the second samples RSSI over orientation to point the robot toward the tag; and the third samples RSSI from two antennas pointing in different directions to enable the robot to approach the tag. We justify our formulation using the radar equation and associated literature. We also demonstrate that it has good performance in practice via tests with a PR2 robot from Willow Garage in a house with a variety of tagged household objects.
Starting Page	2579
Ending Page	2586
File Size	2434703
Page Count	8
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6942914
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Radiofrequency identification Antenna measurements Radar antennas Optimization Receiving antennas
Content Type	Text
Resource Type	Article

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