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1. MOBILE ROBOT LOCALIZATION USING THE PHASE OF
PASSIVE UHF-RFID SIGNALS
ABSTRACT:
This paper presents a global localization system for an indoor autonomous vehicle
equipped with odometry sensors and a radio-frequency identification (RFID) reader to
interrogate tags located on the ceiling of the environment. The RFID reader can measure the
phase of the signals coming from responding tags. This phase has non-univocal dependence
on the distance robot tag, but in the considered frequency, it is really sensitive to a change in
the position of the robot. For this reason, a multihypothesis Kalman filtering approach
provides a really satisfactory performance even in the case that a very small density of tags is
used: In the experimental tests, an average position estimation error of about 4 cm is achieved
using only two tags for an area of about 5 $hbox{m}^{2}$