Navigation and mapping of closed spaces with a mobile robot and RFID grid

• Autorzy: Pawłowicz Bartosz , Skoczylas Mariusz , Trybus Bartosz , Salach Mateusz , Hubacz Marcin , Mazur Damian

Identyfikatory

DOI

10.24425/acs.2023.148879

• Języki publikacji: EN

Abstrakty

EN

This article concerns the use of an integrated RFID system with a mobile robot for the navigation and mapping of closed spaces. The architecture of a prototype mobile robot equipped with a set of RFID readers that performs the mapping functions is described. Laboratory tests of the robot have been carried out using a test stand equipped with a grid of appropriately programmed RFID transponders. A simulation model of the effectiveness of transponder reading by the robot has been prepared. The conclusions from measurements and tests are discussed, and methods for improving the solution are proposed.

Słowa kluczowe

EN

mobile robot; space mapping; RFID

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2023
• Tom: Vol. 33, No. 4
• Strony: 737--759
• Opis fizyczny: Bibliogr. 53 poz., fot., rys., wzory

Twórcy

autor

Pawłowicz Bartosz

• Departmentof Electronic and Telecommunications Systems, Rzeszów University of Technology, Wincentego Pola 2, 35-959 Rzeszów, Poland

• https://orcid.org/0000-0001-9469-2754

autor

Skoczylas Mariusz

• Departmentof Electronic and Telecommunications Systems, Rzeszów University of Technology, Wincentego Pola 2, 35-959 Rzeszów, Poland

• https://orcid.org/0000-0002-8722-5872

autor

Trybus Bartosz

• Department of Computer and Control Engineering, Rzeszow University of Technology, Wincentego Pola 2, 35-959 Rzeszów, Poland

• https://orcid.org/0000-0002-4588-3973

autor

Salach Mateusz

• Department of Complex Systems, Rzeszow University of Technology, Wincentego Pola 2, 35-959 Rzeszów, Poland

• https://orcid.org/0000-0002-9199-3460

autor

Hubacz Marcin

• Department of Computer and Control Engineering, Rzeszow University of Technology, Wincentego Pola 2, 35-959 Rzeszów, Poland

• https://orcid.org/0000-0002-2748-1145

autor

Mazur Damian

• Department of Electrical and Computer Engineering Fundamentals, Rzeszow University of Technology, Wincentego Pola 2, 35-959 Rzeszów, Poland

• https://orcid.org/0000-0002-3247-5903

Bibliografia

• [1] A. Motroni, F. Bernardini, A. Buffi, P. Nepa and B. Tellini: Self-locating RFID robot for tag localization in retails. IEEE International Conference on RFID, Atlanta, GA, USA, (2021). DOI: 10.1109/RFID52461.2021.9444384.
• [2] M. Morenza-Cinos, V. Casamayor-Pujol and R. Pous: Stock visibility for retail using an RFID robot. International Journal of Physical Distribution and Logistics Management, 49(10), (2019), 1020-1042. DOI: 10.1108/IJPDLM-03-2018-0151.
• [3] W. Gueaieb and M.S. Miah: An intelligent mobile robot navigation technique using RFID technology. IEEE Transactions on Instrumentation and Measurement, 57(9), (2008), 1908-1917. DOI: 10.1109/TIM.2008.919902.
• [4] S. Lin and P. Wang: Design of a barcode identification system. IEEE International Conference on Consumer Electronics, Taiwan, (2014). DOI: 10.1109/ICCE-TW.2014.6904077.
• [5] A. Eleni: Control of medical robotics and neurorobotic prosthetics by non-invasive brain-robot interfaces via EEG and RFID technology. 8th IEEE International Conference on BioInformatics and BioEngineering, Athens, Greece, (2008). DOI: 10.1109/BIBE.2008.4696838.
• [6] K. Lakshmi Narayanan, Dr. N. Muthu Kumaran, G. Rajakumar, Hameedhul Arshadh, I. Dinesh and V. Caleb: Design and fabrication of medicine delivery robots for hospitals. (2019). International Conference on Recent Trends in Computing, Communication and Networking Technologies, Chennai, Tamilnadu, India, (2019). DOI: 10.2139/ssrn.3432156.
• [7] T. Deyle, H. Nguyen, M. Reynolds and C. Kemp: RFID-guided robots for pervasive automation. IEEE Pervasive Computing, 9(2), (2010), 37-45. DOI: 10.1109/MPRV.2010.17.
• [8] E. DiGiampaolo and F. Martinelli: A robotic system for localization of passive UHF-RFID tagged objects on shelves. IEEE Sensors Journal, 18(20), (2018), 8558-8568. DOI: 10.1109/JSEN.2018.2865339.
• [9] H. Wu, B. Tao, Z. Gong, Z. Yin and H. Ding: A standalone RFID-based mobile robot navigation method using single passive tag. IEEE Transactions on Automation Science and Engineering, 18(4), (2021), 1529-1537. DOI: 10.1109/TASE.2020.3008187.
• [10] D. Monarca, P. Rossi, R. Alemanno, F. Cossio, P. Nepa, A. Motroni, R. Gabbrielli, M. Pirozzi, C. Console and M. Cecchini: Autonomous vehicles management in agriculture with Bluetooth low energy (BLE) and passive Radio Frequency Identification (RFID) for obstacle avoidance. Sustainability, 14 (2022). DOI: 10.3390/su14159393.
• [11] Y. He, D. Wang, F. Huang, Y. Zhang, R. Zhang and X. Yan: A RFID-integrated framework for tag anti-collision in UAV-aided VANETs. Remote Sensing, 13 (2021). DOI: 10.3390/rs13224500.
• [12] O. Nakamatsu and T. Wada: A study on RFID-based arbitrary point-to-point navigation and path recovery system for mobile robots. 31st International Telecommunication Networks and Applications Conference, Sydney, Australia, (2021). DOI: 10.1109/ITNAC53136.2021.9652150.
• [13] E. DiGiampaolo and F. Martinelli: Range and bearing estimation of an UHF-RFID tag using the phase of the backscattered signal. IEEE Journal of Radio Frequency Identification, 4(4), (2020), 332-342. DOI: 10.1109/JRFID.2020.3016168.
• [14] S. Han, H. Lim and J. Lee: An efficient localization scheme for a differential-driving mobile robot based on RFID system. IEEE Transactions on Industrial Electronics, 54(6), (2007), 3362-3369. DOI: 10.1109/TIE.2007.906134.
• [15] E. DiGiampaolo and F. Martinelli: A passive UHF-RFID system for the localization of an indoor autonomous vehicle. IEEE Transactions on Industrial Electronics, 59(10), (2012), 3961-3970. DOI: 10.1109/TIE.2011.2173091.
• [16] A. Papapostolou and H. Chaouchi: RFID-assisted indoor localization and the impact of interference on its performance. Journal of Network and Computer Applications, 34(3), (2011), 902-913. DOI: 10.1016/j.jnca.2010.04.009.
• [17] P. Jankowski-Mihułowicz and M. Węglarski: Determination of 3-dimentional interrogation zone in anticollision RFID systems with inductive coupling by using Monte Carlo method. Acta Physica Polonica A, 21(4), (2012), 936-940. DOI: 10.12693/APhysPolA.121.936.
• [18] M. Konieczny, B. Pawłowicz, J. Potencki and M. Skoczylas: Application of RFID technology in navigation of mobile robot. 21st European Microelectronics and Packaging Conference (EMPC) and Exhibition, Warsaw, Poland, (2017). DOI: 10.23919/EMPC.2017.8346907.
• [19] G. Mylonopoulos, A.R. Chatzistefanou, A. Filotheou, A. Tzitzis, S. Siachalou and A.G. Dimitriou: Localization, tracking and following a moving target by an RFID equipped robot. IEEE International Conference on RFID Technology and Applications, Delhi, India, (2021). DOI: 10.1109/RFID-TA53372.2021.9617436.
• [20] A. Isrofi, B. Setiawan and S. Wibowo: Automated guided vehicle (AGV) navigation control using matrix method applying Radio Frequency Identification (RFID) point address. International Conference on Electrical and Information Technology, Malang, Indonesia, (2021). DOI: 10.1109/IEIT53149.2021.9587440.
• [21] S.P. Subramanian, J. Sommer, S. Schmitt and W. Rosenstiel: RIL - reliable RFID based indoor localization for pedestrians. 16th International Conference on Software, Telecommunications and Computer Networks, Split, Croatia, (2008). DOI: 10.1109/SOFTCOM.2008.4669483.
• [22] Y. Chia-Yu and H. Wei-Chun: An indoor positioning system based on the dual-channel passive RFID technology. IEEE Sensors Journal, 18(11), (2018), 4654-4663. DOI: 10.1109/JSEN.2018.2828044.
• [23] M.M. Soltani, A. Motamedi and A. Hammad: Enhancing cluster-based RFID tag localization using artificial neural networks and virtual reference tags. International Conference on Indoor Positioning and Indoor Navigation, Montbeliard, France, (2013). DOI: 10.1109/IPIN.2013.6817886.
• [24] C.-W. Park, G.-Y. Choi, J.-S. Chae and B.-G. Kim: A design for passive RFID system on a chip. 11th International Conference on Advanced Communication Technology, Gangwon, Korea (South), (2009).
• [25] A. Tzitzis, S. Megalou, S. Siachalou, T.G. Emmanouil, A. Filotheou, T.V. Yioultsis and A.G. Dimitriou: Trajectory planning of a moving robot empowers 3D localization of RFID tags with a single antenna. IEEE Journal of Radio Frequency Identification, 4(4), (2020), 283-299. DOI: 10.1109/JRFID.2020.3000332.
• [26] P. Jankowski-Mihułowicz and M. Węglarski: Factors affecting the synthesis of autonomous sensors with RFID interface. Sensors, 19(20), (2019). DOI: 10.3390/s19204392.
• [27] E. Abad, B. Mazzolai, A. Juarros, D. Gómez, A. Mondini, I. Sayhan, A. Krenkow and T. Becker: Fabrication process for a flexible tag microlab. Proceedings of SPIE, 6589 (2007).
• [28] A. Oprea, J. Courbat, N. Bârsan, D. Briand, N.F. de Rooij and U. Weimar: Temperature, humidity and gas sensors integrated on plastic foil for low power applications. Sensors and Actuators B: Chemical, 140 (2009), 227-232. DOI: 10.1016/j.snb.2009.04.019.
• [29] P. Jankowski-Mihułowicz and M. Węglarski: Definition, characteristics and determining parameters of antennas in terms of synthesizing the interrogation zone in RFID systems. In P.C. Crepaldi and T.C. Pimenta (Eds.), Radio Frequency Identification, Intech, London, UK, 2017, Chapter 5, 65-119.
• [30] K. Finkenzeller: RFID Handbook - Fundamentals and Applications in Contactless Smart Cards, Radio Frequency Identification and Near-Field Communication. 3rd ed. Chichester, Wiley, 2010.
• [31] P. Jankowski-Mihułowicz, B. Pawłowicz and G. Pitera: Zagadnienie wymiany danych w systemie RFID pasma HF z autonomicznym identyfikatorem półpasywnym. Przegląd Elektrotechniczny, 91 (2015), 74-77, (in Polish).
• [32] P. Jankowski-Mihułowicz, M. Węglarski and W. Lichoń: A procedure for validating impedance parameters of HF/UHF RFID transponder antennas. In R. Hanus, D. Mazur, C. Kreischer (Eds.), Methods and Techniques of Signal Processing in Physical Measurements. MSM2018. Lecture Notes in Electrical Engineering, 548, 101-118, Springer, Cham, 2019. DOI: 10.1007/978-3-030-11187-8_9.
• [33] P. Jankowski-Mihułowicz, G. Tomaszewski and M. Węglarski: Flexible antenna design for HF RFID semi-passive transponder in ink-jet technology. Przegląd Elektrotechniczny, 4 (2015), 1-5. DOI: 10.15199/48.2015.04.01.
• [34] D.M. Dobkin: The RF in RFID: UHF RFID in Practice. 2nd ed. Oxford, Newnes, 2012.
• [35] C. Balanis: Antenna Theory. 4th ed. Hoboken, Wiley. 2016.
• [36] I. Pratt and S. Zhong: A heuristically designed high-frequency RFID antenna head for use within libraries. IEEE International Conference on RFID Technology and Applications, Pisa, Italy, (2019). DOI: 10.1109/RFID-TA.2019.8892112.
• [37] F. Pebay-Peyroula and J. Reverdy: A true full-duplex communication between HF contactless reader and card. IEEE International Conference on RFID-Technologies and Applications, Sitges, Spain, (2011). DOI: 10.1109/RFID-TA.2011.6068681.
• [38] M. Wobak, M. Gebhart and U. Muehlmann: Physical limits of batteryless HF RFID transponders defined by system properties. IEEE International Conference on RFID-Technologies and Applications, Nice, France, (2012). DOI: 10.1109/RFID-TA.2012.6404500.
• [39] S. Rizkalla, R. Prestros and C.F. Mecklenbräuker: Characterizing chip’s behavior of HF RFID cards during load modulation. IEEE International Conference on RFID Technology and Application, Warsaw, Poland, (2017). DOI: 10.1109/RFID-TA.2017.8098638.
• [40] J. Grosinger, B.J.B. Deutschmann, L. Zöscher, M. Gadringer and F. Amtmann: HF RFID tag chip impedance measurements. IEEE Transactions on Instrumentation and Measurement, 71 (2022), 1-11. DOI: 10.1109/TIM.2021.3130664.
• [41] M. Benamara, M. Grzeskowiak, M. Salhi, G. Lissorgues, A. Diet and Y. Le Bihan: Array subloops reader antenna for HF RFID tracking. IEEE International Conference on RFID Technology and Application, Warsaw, Poland, (2017). DOI: 10.1109/RFID-TA.2017.8098892.
• [42] International Organization for Standardization/International Electrotechnical Commission. Identification Cards - Contactless Integrated Circuit Cards - Proximity Cards. ISO/IEC, Geneva, Switzerland, 2016, p. 14443-4.
• [43] International Organization for Standardization/International Electrotechnical Commission. Identification Cards - Contactless Integrated Circuit Cards - Vicinity Cards. ISO/IEC, Geneva, Switzerland, 2006, p. 15693.
• [44] R.R.A. Syms, O. Sydoruk and M.C.K. Wiltshire: Magneto-inductive HF RFID system. IEEE Journal of Radio Frequency Identification, 5(2), (2021), 148-153. DOI: 10.1109/JRFID.2020.3042719.
• [45] X. Liang, C. Zhang, J. Hu, T. Zhou and J. Ouyang: Design of a new HF RFID reader antenna. International Conference on Microwave and Millimeter Wave Technology, Nanjing, China, (2021). DOI: 10.1109/ICMMT52847.2021.9617864.
• [46] M. Hubacz, B. Pawlowicz and B. Trybus: Exploring a surface using RFID grid and group of mobile robots. In R. Szewczyk, C. Zieliński and M. Kaliczyńska (Eds.), Advances in Intelligent Systems and Computing, 743, Automation 2018 Advances in Automation, Robotics and Measurement Techniques, Springer, (2018), 490-499.
• [47] R. Kershner: The number of circles covering a set. American Journal of Mathematics, 61(3), (1939), 665-671.
• [48] W. Kalita and M. Skoczylas: Application of RFID technique for object location on plane area. 33st International IMAPS-CPMT Poland Conference, Gliwice-Pszczyna, Poland, (2009).
• [49] P. Jankowski-Mihułowicz, W. Kalita, M. Skoczylas and M. Węglarski: Wpływ struktury przestrzennego rozmieszczenia identyfikatorów-czujników RFID na jakość procesu sterowania autonomicznych obiektów. Elektronika - Konstrukcje, Technologie, Zastosowania, 6 (2010), 154-157, (in Polish).
• [50] W. Kalita and M. Skoczylas: System nawigacji autonomicznych obiektów mobilnych z wykorzystaniem techniki RFID. Elektronika - Konstrukcje, Technologie, Zastosowania, 8 (2010), 81-85.
• [51] M. Szumowski, M. Żórawska and T. Zielińska: Preview control applied for humanoid robot motion generation. Archives of Control Sciences, 29(1), (2019), 111-132. DOI: 10.24425/acs.2019.127526.
• [52] E. Jezierski, P. Łuczak, P. Smyczyński and D. Zarychta: Human-robot cooperation in sorting of randomly distributed objects. Archives of Control Sciences, 29(4), (2019), 603-615. DOI: 10.24425/acs.2019.131228.
• [53] M. Hubacz, B. Pawłowicz and B. Trybus: Using multiple RFID readers in mobile robots for surface exploration. In R. Szewczyk, C. Zieliński and M. Kaliczyńska (Eds.), Automation 2019. Advances in Intelligent Systems and Computing, 920 Springer, Cham. DOI: 10.1007/978-3-030-13273-6_42.