Path following for indoor robots with RFID received signal strength

We propose a novel method for robot path following in an RFID-equipped corridor using received signal strength (RSS). RSS measurements are recorded as reference fingerprints during the exploration phase. Then, these data are used to guide the robot through the corridor in the navigation phase. Distance and orientation that the robot derivates from the expected path are approximated through the RSS differences and the index differences of two antennas. Finally, a P-controller is used for the navigation of the robot. This enables the robot to follow a certain path, which may be defined in the first phase of our method. The extensive experiments with a SCITOS G5 service robot confirm the validity and robustness of our approach.