2009 Volume 2 Issue 6 Pages 334-340
This paper offers a significant evaluation of reader's placement for wheeled robots to estimate their posture from a lattice of RFID (Radio Frequency Identification) tags. RFID systems where IC tags are installed under/on floors have been widely utilized in recent years as the next positioning infrastructure. There is a model room in the Wabot-house Laboratory of Waseda University, where the floor has a lattice of RFID tags, and some actual experiments previously revealed that robots could accurately estimate their posture. The readers' antennas should be properly configured on a robot so that such an environment can give full play to its potential capabilities of positioning the robot. This problem calls for something like guidelines in designing the placement of readers. Experiments using actual robots cannot offer sufficient data because of time and physical limitations, which prevent helpful and reproducible evaluations of configurations. We construct a simulation environment using a localization model and evaluated the effects of configurations on positioning accuracy by using detailed computations. Then we obtain the simulation results, which enable us to identify some useful clues in designing where readers should be placed. In addition, a validation experiment using an actual robot verifies a part of the simulation results.