Improving position estimation on RFID tag floor localization using RFID reader transmission power control

Localization of indoor mobile robot is one of main issues on service robot area. Various sensor systems like odometry, INS, ultra sonic, laser lange finder (LRF), RF range systems such as UWB and chirp spread-spectrum (CSS), and vision have been applied to solve localization problem. RFID system can be a solution due to the low cost and scalability. A RFID system used to localize mobile robot in distributed tags on the floor is called RFID Tag floor localization system. RFID tag floor localization system generally uses fixed tag recognition range or probability model. In this paper, RFID reader transmission power control is introduced to change the tag recognition range to get more information about distances of tags. Using RFID power control, the performance of a position estimation was improved in simulation. The experimental results also showed improvement.