This work presents a numerical analysis concerning a mobile robot trajectory reconstruction method based on Synthetic Aperture Localization with passive UHF-RFID technology and sensor fusion. A mobile robot is equipped with RFID tags and rotary encoders on wheels. A moving antenna, installed at the room ceiling, generates a synthetic aperture that can be exploited to estimate the most probable robot trajectory through phasors conjugate matching between the measured phase data and trajectory models built through odometry data. A simulated analysis details the potential of the proposed method.
Mobile Robot Trajectory Reconstruction with UHF-RFID Synthetic Aperture Localization
Motroni, Andrea
;Tavanti, Emanuele;Nepa, Paolo
2025-01-01
Abstract
This work presents a numerical analysis concerning a mobile robot trajectory reconstruction method based on Synthetic Aperture Localization with passive UHF-RFID technology and sensor fusion. A mobile robot is equipped with RFID tags and rotary encoders on wheels. A moving antenna, installed at the room ceiling, generates a synthetic aperture that can be exploited to estimate the most probable robot trajectory through phasors conjugate matching between the measured phase data and trajectory models built through odometry data. A simulated analysis details the potential of the proposed method.File in questo prodotto:
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