Application of RFID Technology in Restaurant Service Robot Localization

摘要

In order to increase the localization accuracy of the service robot, a localization method based on radio frequency identification (RFID) is presented. A special RFID system with RFID interrogators for relatively small areas and passive tags is designed to reduce the distance errors and increase the localization accuracy when the interrogators read the tags. The robot obtains the coordinate data in the tags by the interrogators, calculates its position and yawing angle accurately according to the geometric relationship between the center of the robot and the interrogators' installation position. The experimental result shows that this method has better robustness and less affected by environment.It achieves less then ±20 mm locating accuracy,which fully satisfies the requirement of the service robot localization accuracy.