Low cost design of HF-band RFID system for mobile robot self-localization based on multiple readers and tags

Mi, Jian; Takahashi, Yasutake

doi:10.1109/robio.2015.7418766

Cited by 11 publications

(4 citation statements)

References 11 publications

(10 reference statements)

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“…Specifically, we reduced the number of readers by four and instead placed four readers at the center in order to test the system. Further details have been reported elsewhere [30]. Both the 24-RFID-reader and the 20-RFID-reader systems were able to locate the robot accurately and stably.…”

Section: Hf-band Rfid Systemsmentioning

confidence: 99%

Design of an HF-Band RFID System with Multiple Readers and Passive Tags for Indoor Mobile Robot Self-Localization

Takahashi

2016

Sensors

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Radio frequency identification (RFID) technology has already been explored for efficient self-localization of indoor mobile robots. A mobile robot equipped with RFID readers detects passive RFID tags installed on the floor in order to locate itself. The Monte-Carlo localization (MCL) method enables the localization of a mobile robot equipped with an RFID system with reasonable accuracy, sufficient robustness and low computational cost. The arrangements of RFID readers and tags and the size of antennas are important design parameters for realizing accurate and robust self-localization using a low-cost RFID system. The design of a likelihood model of RFID tag detection is also crucial for the accurate self-localization. This paper presents a novel design and arrangement of RFID readers and tags for indoor mobile robot self-localization. First, by considering small-sized and large-sized antennas of an RFID reader, we show how the design of the likelihood model affects the accuracy of self-localization. We also design a novel likelihood model by taking into consideration the characteristics of the communication range of an RFID system with a large antenna. Second, we propose a novel arrangement of RFID tags with eight RFID readers, which results in the RFID system configuration requiring much fewer readers and tags while retaining reasonable accuracy of self-localization. We verify the performances of MCL-based self-localization realized using the high-frequency (HF)-band RFID system with eight RFID readers and a lower density of RFID tags installed on the floor based on MCL in simulated and real environments. The results of simulations and real environment experiments demonstrate that our proposed low-cost HF-band RFID system realizes accurate and robust self-localization of an indoor mobile robot.

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Section: Hf-band Rfid Systemsmentioning

confidence: 99%

Design of an HF-Band RFID System with Multiple Readers and Passive Tags for Indoor Mobile Robot Self-Localization

Takahashi

2016

Sensors

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“…Most research on HF positioning addresses the converse problem of localization of mobile objects within reference transponder grids. Such an object has often been a robot equipped with a single [18], [19] or multiple readers [20]- [23], while the transponder distribution could be uniform or sparse [24]. Similar methods have been applied to identify the location and orientation of furniture [25].…”

Section: Introductionmentioning

confidence: 99%

Waveguide Antenna Topologies for Distributed High-Frequency Near-Field Communication and Localization

Voronov

Sydoruk

Syms

2023

IEEE Trans. Antennas Propagat.

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High-frequency near-field communication is an inherently short-range technology. However, the total capture volume can be increased with traveling-wave antennas. Here, we report on analysis, design, and measurements of flexible waveguide antennas and discuss their performance for near-field communication and localization. The antennas comprise sections of coaxial transmission lines loaded periodically with fieldgenerating inductive networks. Several topologies were compared to each other theoretically and the best-performing candidate was selected to fabricate antennas between 5 and 48 meters long, each containing 15 read nodes. Waveguiding properties of the antennas were measured and agreement with theory was demonstrated. Afterwards, each antenna was integrated with a custom NFC reader and shown to be capable of near-field communication with and localization of commercial off-the-shelf transponders compliant with ISO 14443 Type A protocol. The transverse detection range was 10 cm with 1 W input RF power. Both one-dimensional and quasi two-dimensional configurations were tested. The proposed antennas are flexible, scalable, have low loss, and could be used for near-field communication, identification, and tracking of distributed and mobile tags.

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“…The particle filter [1] is an important probabilistic method for state tracking and estimation [2,3], being widely utilized in robotics. For instance, particle filters are widely applied in mobile robots' self-localization [4,5] and visual tracking [6,7]. Three major factors greatly affect the performance of particle filters; namely, measurement model, state space, and motion model.…”

Section: Introductionmentioning

confidence: 99%

Whole-Body Joint Angle Estimation for Real-Time Humanoid Robot Imitation Based on Gaussian Process Dynamical Model and Particle Filter

Takahashi

2019

Applied Sciences

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Real-time imitation enables a humanoid robot to mirror the behavior of humans, being important for applications of human–robot interaction. For imitation, the corresponding joint angles of the humanoid robot should be estimated. Generally, a humanoid robot comprises dozens of joints that construct a high-dimensional exploration space for estimating the joint angles. Although a particle filter can estimate the robot state and provides a solution for estimating joint angles, the computational cost becomes prohibitive given the high dimension of the exploration space. Furthermore, a particle filter can only estimate the joint angles accurately using a motion model. To realize accurate joint angle estimation at low computational cost, Gaussian process dynamical models (GPDMs) can be adopted. Specifically, a compact state space can be constructed through the GPDM learning of high-dimensional time-series motion data to obtain a suitable motion model. We propose a GPDM-based particle filter using a compact state space from the learned motion models to realize efficient estimation of joint angles for robot imitation. Simulations and real experiments demonstrate that the proposed method efficiently estimates humanoid robot joint angles at low computational cost, enabling real-time imitation.

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Low cost design of HF-band RFID system for mobile robot self-localization based on multiple readers and tags

Cited by 11 publications

References 11 publications

Design of an HF-Band RFID System with Multiple Readers and Passive Tags for Indoor Mobile Robot Self-Localization

Design of an HF-Band RFID System with Multiple Readers and Passive Tags for Indoor Mobile Robot Self-Localization

Waveguide Antenna Topologies for Distributed High-Frequency Near-Field Communication and Localization

Whole-Body Joint Angle Estimation for Real-Time Humanoid Robot Imitation Based on Gaussian Process Dynamical Model and Particle Filter

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