Indoor robot localization based on single RFID tag

With the mature of the RFID technology and the wide use of the Internet of Things technology, it is a new research hotspot that RFID technology was applied to robot localization and navigation. RFID tags have the characteristic of storing information, long reading distance and using conveniently. A novel robot localization method combining RFID with laser data is proposed in this paper. When the robot detects an RFID tag, RFID antenna angle probability model is determined based on the fuzzy reasoning algorithm. Then the Bayes rule is used to estimate the direction of the robot. Finally, the robot global localization is realized by fusion of the laser ranging data. The experimental results showed that the precision of the positioning based on single RFID tag is enhanced greatly by combining laser detecting data.