RFID tag arrangement for mobile robot localization

This paper presents a new pseudorandom tag arrangement for improved RFID based mobile robot localization. First, using spatio-temporal information during tag traversing, a simple but effective mobile robot localization method is described. Second, repetitive tag arrangements, including square, parallelogram, tilted square, and equilateral triangle, are examined in terms of tag installation and tag visibility. Third, a new pseudorandom tag arrangement is proposed, inspired from the Sudoku puzzle. Some experimental results are given.