RFID Based Mobile Robot Docking Using Estimated DOA 


Vol. 37,  No. 9, pp. 802-810, Sep.  2012


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  Abstract

This paper describes RFID(Radio Frequency Identification) based target acquisition and docking system. RFID is non-contact identification system, which can send relatively large amount of information using RF signal. Robot employing RFID reader can identify neighboring tag attached objects without any other sensing or supporting systems such as vision sensor. However, the current RFID does not provide spatial information of the identified object, the target docking problem remains in order to execute a task in a real environment. For the problem, the direction sensing RFID reader is developed using a dual-directional antenna. The dual-directional antenna is an antenna set, which is composed of perpendicularly positioned two identical directional antennas. By comparing the received signal strength in each antenna, the robot can know the DOA (Direction of Arrival) of transmitted RF signal. In practice, the DOA estimation poses a significant technical challenge, since the RF signal is easily distorted by the surrounded environmental conditions. Therefore, the robot loses its way to the target in an electromagnetically disturbed environment. For the problem, the g-filter based error correction algorithm is developed in this paper. The algorithm reduces the error using the difference of variances between current estimated and the previously filtered directions. The simulation and experiment results clearly demonstrate that the robot equipped with the developed system can successfully dock to a target tag in obstacles-cluttered environment.

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  Cite this article

[IEEE Style]

M. Kim and K. Kim, "RFID Based Mobile Robot Docking Using Estimated DOA," The Journal of Korean Institute of Communications and Information Sciences, vol. 37, no. 9, pp. 802-810, 2012. DOI: .

[ACM Style]

Myungsik Kim and Kwangsoo Kim. 2012. RFID Based Mobile Robot Docking Using Estimated DOA. The Journal of Korean Institute of Communications and Information Sciences, 37, 9, (2012), 802-810. DOI: .

[KICS Style]

Myungsik Kim and Kwangsoo Kim, "RFID Based Mobile Robot Docking Using Estimated DOA," The Journal of Korean Institute of Communications and Information Sciences, vol. 37, no. 9, pp. 802-810, 9. 2012.

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pISSN : 1226 - 4717
eISSN : 2287 - 3880