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

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

Archives of Control Sciences

2023

Vol. 33, No. 4

737--759

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.

Room mapping system using RFID and mobile robots

Skoczylas Mariusz, Gotówko Łukasz, Salach Mateusz, Trybus Bartosz, Hubacz Marcin, Pawłowicz Bartosz

Annals of Computer Science and Information Systems

2022

Vol. 30

593--597

The article presents a prototype indoor space mapping solution using RFID transponders. The autonomous robot reads the information they contain using a set of several readers, which improves the process. The design of the robot prototype is based on the STM32 NUCLEO module. Two types of transponder grids are considered, square and triangular. Simulation results for both grid types show the efficiency of reading information from transponders by the moving robot.