Mobile Robot Self-Localization Based on RFID System with Adaptive Power Control

Abstract

Abstract: An adaptive power control system for RFID which is applying for mobile robot localization was proposed. The Mahalanobis distance is introduced to particle filter as an evaluation function for particle weight to avoid particle depletion. Meanwhile, an evaluation function for the performance of localization using particle filter was proposed and used to adapt antenna power to the distribution character of tags in a local environment. The experiments show that the proposed method obtains higher and more consistent localization accuracy as well as systems reduced power consumption.

Key words: mobile robot, selflocalization； ultra high frequency radio frequency identification (UHF RFID)； particle filter； adaptive power control

CLC Number:

TP 24

WANG Jing-Chuan, FANG Yi, CHEN Wei-Dong. Mobile Robot Self-Localization Based on RFID System with Adaptive Power Control[J]. Journal of Shanghai Jiaotong University, 2012, 46(02): 207-212.

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