An indoor global localization problem for a mobile robot based on Radio Frequency IDentification (RFID) is considered. The localization system consists of a reader installed on the robot which measures the phase of UHF-RFID signals coming from a set of passive tags deployed on the ceiling of the environment. Assuming only an approximate information is available at the beginning on the position of the tags, this paper presents an algorithm, based on a Multi-Hypothesis Extended Kalman Filter, which improves the initial estimate on the tag coordinates while simultaneously localizing the robot. Simulative and experimental results are reported to illustrate the effectiveness of the proposed approach.

Martinelli, F. (2016). Robot Localization Using the Phase of Passive UHF-RFID Signals Under Uncertain Tag Coordinates. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 82(3-4), 577-593 [10.1007/s10846-015-0294-z].

Robot Localization Using the Phase of Passive UHF-RFID Signals Under Uncertain Tag Coordinates

MARTINELLI, FRANCESCO
2016

Abstract

An indoor global localization problem for a mobile robot based on Radio Frequency IDentification (RFID) is considered. The localization system consists of a reader installed on the robot which measures the phase of UHF-RFID signals coming from a set of passive tags deployed on the ceiling of the environment. Assuming only an approximate information is available at the beginning on the position of the tags, this paper presents an algorithm, based on a Multi-Hypothesis Extended Kalman Filter, which improves the initial estimate on the tag coordinates while simultaneously localizing the robot. 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
Con Impact Factor ISI
Global localization · UHF-RFID · Uncertain tag position · Multi-Hypothesis Kalman filtering · CW radar
Martinelli, F. (2016). Robot Localization Using the Phase of Passive UHF-RFID Signals Under Uncertain Tag Coordinates. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 82(3-4), 577-593 [10.1007/s10846-015-0294-z].
Martinelli, F
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/2108/173281
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