Abstract
We have developed a direction sensing RFID reader employing a dual directional antenna that enabled a mobile robot to dock with a target transponder. Some of the technical challenge was that the transponder signal was deflected in the cluttered environment, where the robot lost its way to the target. To cope with this problem, the direction correction algorithm is developed using the geometrical relations between previously estimated directions and the robot positions. The experimental results verify the reliability of the proposed algorithm that quantifies the potential error in the DOA estimation.
