Mobile Robot Trajectory Reconstruction with UHF-RFID Synthetic Aperture Localization

This work presents a numerical analysis concerning a mobile robot trajectory reconstruction method based on Synthetic Aperture Localization with passive UHF-RFID technology and sensor fusion. A mobile robot is equipped with RFID tags and rotary encoders on wheels. A moving antenna, installed at the room ceiling, generates a synthetic aperture that can be exploited to estimate the most probable robot trajectory through phasors conjugate matching between the measured phase data and trajectory models built through odometry data. A simulated analysis details the potential of the proposed method.