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Mobile robot trajectory tracking using noisy RSS measurements: an RFID approach.
1Machine Intelligence, Robotics, and Mechatronics Laboratory, School of Electrical Engineering and Computer Science, University of Ottawa, Ontario, Canada.
ISA Transactions
|November 26, 2013
Summary
This study introduces a new controller for mobile robot navigation using radio frequency identification (RFID) tags. It overcomes challenges in noisy environments without needing precise signal-to-distance mapping.
Area of Science:
- Robotics
- Control Systems
- Wireless Communication
Background:
- Mobile robot navigation often uses RF beacons and received signal strength (RSS).
- Accurate RSS to distance mapping is difficult in reverberant environments.
- Existing methods struggle with environmental noise and complex robot models.
Purpose of the Study:
- To develop a robust navigation controller for wheeled mobile robots.
- To utilize noisy RSS measurements from RFID tags as feedback.
- To avoid reliance on precise RSS-to-distance models and robot linearization.
Main Methods:
- A partially-observed feedback controller was designed for a wheeled mobile robot.
- The controller uses noisy RSS measurements from RFID tags.
- The approach does not require linearization of the robot's dynamic model.
Main Results:
- The proposed controller demonstrated effective performance in simulations.
- Real-time experiments validated the controller's functionality.
- The system successfully navigated despite noisy RSS feedback.
Conclusions:
- The developed controller offers a viable solution for mobile robot navigation in challenging environments.
- It effectively handles noisy RSS measurements from RFID tags.
- The method provides an alternative to traditional RSS-based localization techniques.
