Abstract
In this paper, we present an RFID-based self-localization for indoor mobile robot. We focus on configuring a low cost RFID system to locate a robot itself well using less RFID readers and low density tags installed on the floor based on MCL. We develop a new RFID system by resizing the RFID reader antennas and test the RFID system to find out an efficient configuration of the RFID system. Particularly, a novel arrangement of RFID tags in a hexagon pattern is proposed with the advantage of low density and easy installation. Moreover, we also propose a novel likelihood function to detect the tag for a large antenna of the RFID reader. Finally, we investigate the performances of robot self-localization with the RFID system. The simulation shows efficiency of our new ID tag arrangement in hexagonal pattern. Besides, the simulation results also illustrate that even using a low cost RFID system, a mobile robot can localize itself well.
