A Study on RFID-based Arbitrary Point-to-Point Navigation and Path Recovery System for Mobile Robots

Abstract

In recent years, due to the declining birthrate, there are more and more situations where elderly people need to be cared for. As a result, the burden per caregiver has been increasing. As a technology to solve this problem, indoor robot navigation systems that support indoor mobility of those who need care are attracting attention. A navigation system using a mobile robot has components such as position estimation and movement control. As a conventional technique for location estimation, there is a location estimation method using QR codes. In addition, there is a conventional method of mobile control using RSSI. The proposed method presented in this paper is a robot navigation system that replaces QR codes with RFID tags and uses the RSSI-based mobile control method. In addition, we propose a path recovery system when the mobile robot deviates from the path during navigation. In the performance evaluation of navigation between arbitrary points, the maximum error from the ideal trajectory was found to be 13 cm. We also found that the average error between the destination tag and the stop position was 20 cm, while the maximum error was 51 cm. In the performance evaluation of the path recovery system, the maximum error between the ideal path and the stop position was found to be 30 cm.