Ran Liu and Artur Koch and Andreas Zell

Path Following with Passive UHF RFID Received Signal Strength in Unknown Environments

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura, Algarve, Portugal, October, 2012


Abstract

We present a novel approach incorporating a combination of Radio-Frequency Identification (RFID) and odometry information into the motion control of a mobile robot for the purpose of path following in unknown environments. Our method utilizes RFID measurements as landmarks and makes the mobile robot autonomously follow a path that was previously recorded in a manual training phase. The approach needs no prior information about RFID sensor models, the distribution and positioning of the tags nor does it require a map of the environment. Particularly, it is adaptive to different reader power levels and various tag densities, which have a major impact on RFID performance. Extensive experiments with a SCITOS G5 robot in different environments like a library, a supermarket and hallways confirm the effectiveness of our algorithm.


Downloads and Links

[pdf]


BibTeX

@inproceedings{RanArtur_IROS_2012,
  author = {Ran Liu and Artur Koch and Andreas Zell},
  title = {Path Following with Passive {UHF RFID} Received Signal Strength in
	Unknown Environments},
  booktitle = {2012 IEEE/RSJ International Conference on Intelligent Robots and
	Systems (IROS 2012)},
  year = {2012},
  address = {Vilamoura, Algarve, Portugal},
  month = {October},
  abstract = {We present a novel approach incorporating a combination of Radio-Frequency
	Identification (RFID) and odometry information into the motion control
	of a mobile robot for the purpose of path following in unknown environments.
	Our method utilizes RFID measurements as landmarks and makes the
	mobile robot autonomously follow a path that was previously recorded
	in a manual training phase. The approach needs no prior information
	about RFID sensor models, the distribution and positioning of the
	tags nor does it require a map of the environment. Particularly,
	it is adaptive to different reader power levels and various tag densities,
	which have a major impact on RFID performance. Extensive experiments
	with a SCITOS G5 robot in different environments like a library,
	a supermarket and hallways confirm the effectiveness of our algorithm.},
  days = {7-12},
  url = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2012/ran_iros_2012.pdf}
}


Videos

Video with low quality (8.2 MB) and high quality (91.2 MB) of navigation of our SCITOS robot in a library, where approx. 4000 books are attached with RFID tags.