Localisation and mapping in GPS-denied environments using RFID tags

Abstract

This research addresses the Simultaneous Localization and Mapping (SLAM) problem in the context of an underground mining environment. This would allow autonomous vehicle navigation in this hazardous setting. This environmental setting has few features and no access to GPS or stationary towers, which are typically used for navigation in mobile robots. In addition, dust and debris may hinder optical methods for ranging. This study investigates using randomly distributed RFID tags to autonomously localize and navigate in such environments. Localization is performed by clustering the observed tags. Value iteration is then utilized to navigate the mobile robot to the defined goal. The simulation results demonstrate that this method is an effective means of navigation and localization in an underground setting.