This paper proposes a global indoor localization system based on the radio frequency identification (RFID) technology. A reader, installed on the robot, measures the received signal strength indication (RSSI) and the phase shift of UHF-RFID signals coming from a set of passive tags deployed on the ceiling of the environment. The position of the tags in the environment is only roughly known at the beginning. Exploiting the complementary features of RSSI and phase-shift information in RFID signals (together with odometry data), a multihypothesis extended and unscented Kalman filter is proposed to localize the robot and to simultaneously improve the initial estimate on the tag coordinates. The simulative and experimental results are reported to illustrate the effectiveness of the proposed approach.

Martinelli, F. (2015). A Robot Localization System Combining RSSI and Phase Shift in UHF-RFID Signals. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 23(5), 1782-1796 [10.1109/TCST.2014.2386777].

A Robot Localization System Combining RSSI and Phase Shift in UHF-RFID Signals

MARTINELLI, FRANCESCO
2015

Abstract

This paper proposes a global indoor localization system based on the radio frequency identification (RFID) technology. A reader, installed on the robot, measures the received signal strength indication (RSSI) and the phase shift of UHF-RFID signals coming from a set of passive tags deployed on the ceiling of the environment. The position of the tags in the environment is only roughly known at the beginning. Exploiting the complementary features of RSSI and phase-shift information in RFID signals (together with odometry data), a multihypothesis extended and unscented Kalman filter is proposed to localize the robot and to simultaneously improve the initial estimate on the tag coordinates. The simulative and experimental results are reported to illustrate the effectiveness of the proposed approach.
Pubblicato
Rilevanza internazionale
Articolo
Esperti anonimi
Settore ING-INF/04 - Automatica
English
Martinelli, F. (2015). A Robot Localization System Combining RSSI and Phase Shift in UHF-RFID Signals. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 23(5), 1782-1796 [10.1109/TCST.2014.2386777].
Martinelli, F
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/116031
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