Improvement of performance of localization ID tag using multi-antenna RFID system

We proposed a method of localizing obstacle using RFID technology as it is inexpensive, flexible and easy to use in the practical environment. We have done some experiments for mobile robots using RFID with one antenna. By considering the probabilistic uncertainty of RFID, we introduce Bayes rule to calculate probability where the ID tag exists. But the accuracy of localization of obstacles is not enough for mobile robot navigation just using one antenna. In this paper, we discuss using multi-antennas RFID system to localize the obstacle with ID tag and some simulations have been done to know the best setting for multi-antennas and the results verified that the precision of localizing ID tag using three-antennas with 45deg setting was best. This paper details the proposed method and gives some simulation results.