Pose Estimation of Mobile Robots Using Floor-Installed RFID Tags

Pose estimation of mobile robots is an important issue for many industrial applications. The paper presents an inexpensive solution for pose estimation of mobile robots in indoor environments. Pose estimation is realized by interpreting the received signal strength indicator (RSSI) of RFID tags, which are integrated in the floor and detected by the reader. The paper presents two algorithms for fusing RFID signal strength measurements with odometry based on Kalman filtering. The paper presents experimental results with a Mecanum based omnidirectional mobile robot on a NaviFloor○ ​​​​​​​R installation, which includes passive HF RFID tags. The experiments show that the proposed algorithms provide a better performance compared to the same algorithms which consider the detection of the tags only.

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