On Tracking Dynamic Objects with Long Range Passive UHF RFID Using a Mobile Robot
Service robots have shown an impressive potential in providing assistance and guidance in various environments, such as supermarkets, shopping malls, homes, airports, and libraries. Due to the low cost and contactless way of communication, radiofrequency identification (RFID) technology provides a s...
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| Format: | Article |
| Language: | English |
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Wiley
2015-05-01
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| Series: | International Journal of Distributed Sensor Networks |
| Online Access: | https://doi.org/10.1155/2015/781380 |
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| _version_ | 1850106730091905024 |
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| author | Ran Liu Goran Huskić Andreas Zell |
| author_facet | Ran Liu Goran Huskić Andreas Zell |
| author_sort | Ran Liu |
| collection | DOAJ |
| description | Service robots have shown an impressive potential in providing assistance and guidance in various environments, such as supermarkets, shopping malls, homes, airports, and libraries. Due to the low cost and contactless way of communication, radiofrequency identification (RFID) technology provides a solution to overcome the difficulties (e.g., occlusions) that the traditional line-of-sight sensors (e.g., cameras and laser range finders) face. In this paper, we address the applications of using passive ultrahigh frequency (UHF) RFID as a sensing technology for mobile robots to track dynamic objects. More precisely, we combine a two-stage dynamic motion model with the dual particle filter to capture the dynamic motion of the object and to quickly recover from failures in tracking. The state estimation from the particle filter is used in combination with the VFH+ (Vector Field Histogram) to guide the robot towards the target. This is then integrated into a framework, which allows the robot to search for both static and dynamic tags, follow them, and maintain the distance between them. We finally tested our approach on a SCITOS G5 service robot through various experiments. |
| format | Article |
| id | doaj-art-4e2510d9a934443c84c16357ab1129d0 |
| institution | OA Journals |
| issn | 1550-1477 |
| language | English |
| publishDate | 2015-05-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Distributed Sensor Networks |
| spelling | doaj-art-4e2510d9a934443c84c16357ab1129d02025-08-20T02:38:46ZengWileyInternational Journal of Distributed Sensor Networks1550-14772015-05-011110.1155/2015/781380781380On Tracking Dynamic Objects with Long Range Passive UHF RFID Using a Mobile RobotRan Liu0Goran Huskić1Andreas Zell2 School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, China Department of Cognitive Systems, University of Tübingen, Sand 1, 72076 Tübingen, Germany Department of Cognitive Systems, University of Tübingen, Sand 1, 72076 Tübingen, GermanyService robots have shown an impressive potential in providing assistance and guidance in various environments, such as supermarkets, shopping malls, homes, airports, and libraries. Due to the low cost and contactless way of communication, radiofrequency identification (RFID) technology provides a solution to overcome the difficulties (e.g., occlusions) that the traditional line-of-sight sensors (e.g., cameras and laser range finders) face. In this paper, we address the applications of using passive ultrahigh frequency (UHF) RFID as a sensing technology for mobile robots to track dynamic objects. More precisely, we combine a two-stage dynamic motion model with the dual particle filter to capture the dynamic motion of the object and to quickly recover from failures in tracking. The state estimation from the particle filter is used in combination with the VFH+ (Vector Field Histogram) to guide the robot towards the target. This is then integrated into a framework, which allows the robot to search for both static and dynamic tags, follow them, and maintain the distance between them. We finally tested our approach on a SCITOS G5 service robot through various experiments.https://doi.org/10.1155/2015/781380 |
| spellingShingle | Ran Liu Goran Huskić Andreas Zell On Tracking Dynamic Objects with Long Range Passive UHF RFID Using a Mobile Robot International Journal of Distributed Sensor Networks |
| title | On Tracking Dynamic Objects with Long Range Passive UHF RFID Using a Mobile Robot |
| title_full | On Tracking Dynamic Objects with Long Range Passive UHF RFID Using a Mobile Robot |
| title_fullStr | On Tracking Dynamic Objects with Long Range Passive UHF RFID Using a Mobile Robot |
| title_full_unstemmed | On Tracking Dynamic Objects with Long Range Passive UHF RFID Using a Mobile Robot |
| title_short | On Tracking Dynamic Objects with Long Range Passive UHF RFID Using a Mobile Robot |
| title_sort | on tracking dynamic objects with long range passive uhf rfid using a mobile robot |
| url | https://doi.org/10.1155/2015/781380 |
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