Pseudorandom Tag Arrangement for RFID Based Mobile Robot Localization

RFID 기반 이동로봇 위치 추정을 위한 의사 랜덤 태그 배치

This paper presents a pseudorandom tag arrangement for improved RFID based mobile robot localization. First, four repetitive tag arrangements, including square, parallelogram, tilted square, and equilateral triangle, are examined. For each tag arrangement, the difficulty in tag installation and the problem of tag invisibility are discussed. Then, taking into account both tag invisibility and tag installation, a pseudorandom tag arrangement is proposed, which is inspired from a Sudoku puzzle. It is shown that the proposed tag arrangement exhibits spatial randomness quite successively without increased difficulty in installation.