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Autonomous Mobile Robot Navigation via RFID Signal Strength Sensing

Jia Hui Teo, Anbalagan Loganathan, Patrick Goh, and Nur Syazreen Ahmad
School of Electrical and Electronic Engineering Engineering Campus, Universiti Sains Malaysia, 14300 Nibong Tebal, Pulau Pinang, Malaysia

Abstract—Autonomous mobile robots have been increasingly used in various applications within indoor environment notably for inventory and asset tracking in warehouses. Radio Frequency Identification (RFID) is one of the approaches considered for many related applications due to its automated recognition of objects and high penetrability through a wide range of materials. This paper proposes a technique for autonomous mobile robot navigation via RFID signal strength sensing where the robot is tasked to move towards a target object without knowing its current location. Both the robot and the target object are equipped with IEEE 802.15.4 based wireless sensor network modules which allow a point-to- point networking during the navigation. A set of experiments have been designed which include different initial heading angles of the robot with respect to the goal. The experimental results show good performance with an average steady-state error of no more than 28cm within a navigation area of approximately 7m × 7m, while for the time taken to reach the goal, the duration varies between 176s and 236s.

 
Index Terms—direction sensing, indoor localization, RSSI

Cite: Jia Hui Teo, Anbalagan Loganathan, Patrick Goh, and Nur Syazreen Ahmad, "Autonomous Mobile Robot Navigation via RFID Signal Strength Sensing," International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 8, pp. 1140-1144, August 2020. DOI: 10.18178/ijmerr.9.8.1140-1144