Toward Robust RFID Localization via Mobile Robot

A wide range of scenarios, such as warehousing, and smart manufacturing, have used RFID mobile robots for the localization of tagged objects. The state-of-the-art RFID-robot based localization works are based on the premise of stable speed. However, in reality this assumption can hardly be guaranteed because Commercial-Off-The-Shelf (COTS) robots typically have inconsistent moving speeds, and a small speed inconsistency will cause a large localization error. To this end, we propose a Speed Inconsistency-Immune approach to mobile RFID robot Localization (SILoc) system, which accurately locates targets when the robot moving speed varies or is even unknown. We propose an optimized unwrapping method to maximize the use of data, and a lightweight algorithm to calculate the locations in both 2D and 3D spaces. By utilizing the characteristics of tag-antenna distance and combining the phase data from multiple antennas, SILoc can effectively eliminate the side effects of speed inconsistency. To increase the flexibility, we further optimize the system and propose SILoc $+$ , which enables the system to achieve localization with part of the data, keeping speed inconsistency-immune. Extensive experiments demonstrate that SILoc and SILoc $+$ can achieve a centimeter-level localization accuracy in the scenario with an inconsistent or unknown robot moving speed.