Pseudorandom RFID tag arrangement for improved mobile robot localization

Abstract

In passive RFID environment, this paper presents a pseudorandom tag arrangement for improved performance of RFID based mobile robot localization. It is assumed that a mobile robot travels along a series of linear segments, each at a constant velocity, and the number of tags sensed at one time is at most one. First, using spatial and temporal information during tag traversing, a simple but effective mobile robot localization method is developed. Second, four repetitive tag arrangements, including square, parallelogram, tilted square, and equilateral triangle, are examined. For each tag arrangement, the difficulty in tag installation and the problem of tag invisibility are discussed and compared. Third, inspired from the Sudoku puzzle, a pseudorandom tag arrangement is proposed, which is superior to conventional deterministic tag arrangement in terms of tag invisibility and tag installation. © 2009 Springer Berlin Heidelberg.