Indoor location finding algorithms for mobile robots carrying passive RFID tags

Precise localization of mobile robots is critical issue in military, industrial and show business applications. In the literature, several localization techniques has been proposed, in which reader is carried by the mobile object. But in this study a passive Radio Frequency Identification (RFID) tag is attached to mobile robot and the reader antennas being dispersed around the environment. This novelty protects the mobile robot from an increase of weight and results in saving in battery consumption. Also by this way, an increase in mobile object requires a mere increase in low cost passive RFID tags in the navigation system. We have applied a signal pattern matching algorithm, Weighted Centroid Localization (WCL) and Selective Adaptive Weighted Localization (SAWCL) algorithms to locate the tag via Received Signal Strength Indicator (RSSI) and we compare the results. In this study a pilot application is implemented and a prototype is developed to show the proof of concept of the system.