Wireless sensor network and RFID sensor fusion for mobile robots navigation

Many indoor, mobile robot applications require relatively high levels of speed and precision during navigation. Often times, these properties are a trade-off with some sensors losing reliability when the robot moves at higher speeds. In this paper, we present a useful and practical system that combines a wireless sensor network with a passive radio frequency identification system (RFID). The sensor network provides the robot with fast, general navigation in open areas. Near static obstacles, it is fused with data from a radio frequency identification system, allowing the robot to perform more precise navigation and avoid static obstacles without the aid of sensors often used in obstacle avoidance, such as sonar or cameras. Experiments were conducted in a real environment to show the utility of the system.