RFID-based topological and metrical self-localization in a structured environment

This paper describes several methods proposed for RFID-based self-localization for a trolley robot executing motions and interacting with a User in a store: such a robot must know precisely its position so that it can guide the User until shelves where Products are put on display. The robot position is expressed as a vector (area; x; y; thetas), so that the localization is both topological (to determine when the robot goes from one area to another one) and metrical (to know where is the robot with respect to an area reference frame). It is proposed two different strategies based on RFID tags for the topological and metrical localization, either with tags merged in the ground or with tags set on the shelves. Experiments or simulations are presented, and a final discussion stresses the pros and cons of every solution.