On Tracking Dynamic Objects with Long Range Passive UHF RFID Using a Mobile Robot

Abstract

Service robots have shown an impressive potential in providing assistance and guidance in various environments, such as supermarkets, shopping malls, homes, airports, and libraries. Due to the low cost and contactless way of communication, radiofrequency identification (RFID) technology provides a solution to overcome the difficulties (e.g., occlusions) that the traditional line-of-sight sensors (e.g., cameras and laser range finders) face. In this paper, we address the applications of using passive ultrahigh frequency (UHF) RFID as a sensing technology for mobile robots to track dynamic objects. More precisely, we combine a two-stage dynamic motion model with the dual particle filter to capture the dynamic motion of the object and to quickly recover from failures in tracking. The state estimation from the particle filter is used in combination with the VFH+ (Vector Field Histogram) to guide the robot towards the target. This is then integrated into a framework, which allows the robot to search for both static and dynamic tags, follow them, and maintain the distance between them. We finally tested our approach on a SCITOS G5 service robot through various experiments.

Sustainability Benefits of RFID Technology in the Apparel Industry

“…By introducing RFID to the recycling process, it would be easier to identify which polymers are used in each garment and, by doing this, would effectively simplify the recycling process so unnecessary time and resources are not wasted in trying to recycle what is not recyclable. Furthermore, it has been shown that passive UHF (Ultra High Frequency) RFID tags have the ability to let the readers track the route of the garment through mobile platforms [41,42]. This can make recycling of garments more accessible by helping recycling facilities easily gauge the location of relevant items through an easy to use platform.…”

Stem – An Iot Based Solution For Tracking Objects

“…The two stage dynamic motion model was combined with the dual particle filter in order to capture the dynamic motion of the object and to quickly recover from failures in tracking. And this approach was then tested on a Scitos G5 mobile robot through various experiments [4]. The researchers proposed a novel ubiquitous architecture followed by a protocol for tracking mobile objects in real-time based upon the RFID Tags [5] .An internet based concept incorporated with RFID technology was proposed to form an internet based application for the library management and the RFID reader Motorola MC9090 was used for the entire process which was carried inside the library [6].…”

An Innovative Approach to Track Moving Object based on RFID and Laser Ranging Information

“…Due to its unique and contactless features of identification, RFID gradually becomes the preferred technology for indoor positioning. For example, Liu et al [8] [9] used RFID for the inventory of a library using a mobile robot. Xie et al [10] used RFID to create a smart bookshelf that provides automated and intelligent book management.…”

“…Some researchers also focused on dynamic objects tracking using RFID tags. Liu et al [8] [19] combined RFID and laser sensor to follow a dynamic RFID tag with obstacle avoidance capabilities using a mobile robot. Their algorithm combines two kinematics models and a dual particle filter to achieve fast tracking of dynamic RFID tags.…”