Exploiting RFID Capabilities Onboard a Service Robot Platform
The potential of RFID (radio frequency identification) technology is analyzed in the context of service robots. Various concepts that differ by operation frequency (LF, HF, UHF) and, thus, by range are analyzed. Typically, the service robot application which is to be supported by RFID, preselects the frequency band by range requirements.
Within the DESIRE project, RFID was investigated for platform localization in large operation areas as well as for object identification at small distances. To enable this investigation, an electronic system was designed, built and integrated into the DESIRE platform that supports multiple antenna control.
Detection zones of objects, equipped with UHF-RFID tags, were estimated under lab conditions and for onboard scenarios. In particular, strengths and weaknesses of UHF-RFID object identification at far distances and in the presence of interfering signals are discussed.
This lead to one scenario in which the robot grasps an object, moves and rotates it in reading distance to the antenna mounted at the robot torso. The service robot can thus perceive object information that complements information from other sensor modalities like vision.
KeywordsService Robot Reader Antenna Antenna Coil Reader Channel Desire Project
Unable to display preview. Download preview PDF.
- 3.Diana, C.W., Friedman, D.C.W., et al.: Automated tool handling for the trauma pod surgical robot. In: Proc. IEEE International Conference on Robotics and Automation ICRA, Rome, pp. 1936–1941 (2007)Google Scholar
- 4.Germa, T., Lerasle, F., Ouadah, N., Cadenat, V., Devy, M.: Vision and RFID-based person tracking in crowds from a mobile robot. In: Proc. EEE/RSJ International Conference on Intelligent Robots and Systems IROS, St. Louis, pp. 5591–5596 (2009)Google Scholar
- 5.Kim, J.-H., et al.: Ubiquitous robot: a new paradigm for integrated services. In: Proc. IEEE International Conference on Robotics and Automation ICRA, Rome (2007)Google Scholar
- 8.Nemmaluri, A., Corner, M.D., Shenoy, P.: Sherlock: automatically locating objects for humans. In: Proc. MobiSys, Breckenridge, pp. 187–198 (2008)Google Scholar
- 9.Nikitin, P.V., Rao, K.V.S.: Performance limitations of passive UHF RFID systems. In: Proc. IEEE International Symposium on Antennas and Propagation, Albuquerque, pp. 1011–1014 (2006)Google Scholar
- 10.Olwal, A., Wilson, A.: SurfaceFusion: unobtrusive tracking of everyday objects in tangible user interfaces. In: Proc. 34th Canadian Graphics Interface Conference, Windsor, pp. 235–242 (2008)Google Scholar
- 12.Rashid, J.: Towards the development of an ubiquitous networked robot systems for ambient assisted living. In: Proc. IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing, Newport Beach, pp. 359–366 (2010)Google Scholar