Suruz Thesis Presentation

Mobile Robot Navigation Using RFID Tech.
Introduction Literature Review RFID Technology Navigation: Customized RFID Reader Architecture
Features Methodology Simulation Resuts
Autonomous Mobile Robot Navigation Using RFID Technology

M. Suruz Miah
Supervisor: Dr. Wail Gueaieb
School of Electrical Engineering and Computer Science Ottawa-Carleton Institute for Electrical and Computer Engineering Faculty of Graduate and Postdoctoral Studies University of Ottawa, Canada
Navigation: Customized RFID Tag Architecture

Features Methodology Simulation Results
Thursday, October 11, 2007
Conclusion Future Work M. S. Miahs Masters Thesis Defense
1 / 37
Outline
1
Mobile Robot Navigation Using RFID Tech. Introduction Literature Review RFID Technology Navigation: Customized RFID Reader Architecture
Introduction Literature Review RFID Technology Navigation: Customized RFID Reader Architecture Features Methodology Simulation Resuts Navigation: Customized RFID Tag Architecture Features Methodology Simulation Results Conclusion Future Work
Mobile Robot Navigation Using RFID Tech. Thursday, October 11, 2007 2 / 37
2 3 4

Introduction
Outline
1 2 3 4 5 6
Introduction Literature Review RFID Technology Navigation: Customized RFID Reader Architecture Navigation: Customized RFID Tag Architecture Conclusion

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Introduction
Introduction
Motivation
Motivation Navigation is a central component in any autonomous mobile robotic system Most navigation algorithms tailored towards structured environment or driven by overwhelming degree of computational complexity Extensive hardware requirement

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Introduction
Introduction
Motivation Challenges
Challenges Ensuring full autonomy with a high precision Maintaining low computational complexity without compromising precision Maintaining low cost and modularity

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Introduction
Introduction
Motivation Challenges Objectives
Objectives Investigate use of RFID technology to develop mobile robot navigation system Implement algorithms - computationally simple, low cost, modular and good precision
1 2

Navigation using customized RFID reader architecture Navigation using customized RFID tag architecture
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Literature Review
Outline
1 2 3 4 5 6

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Literature Review
Literature Review
Mobile Robot Navigation System can be categorized as follows: Dead-reckoning-based navigation Landmark and vision-based navigation Behaviour-based navigation

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Literature Review
Dead-reckoning-based navigation
Determine current location by knowing the previous position + widely used due to its simplicity and easy maintenance provide short-term accuracy, and accumulates position and orientation errors if navigation is attempted over long distance

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Literature Review
Landmark and vision-based navigation

Landmark-based navigation
Landmark-based navigation Landmarks hold some information used by mobile robot in order to better estimate its position
Articial and natural landmark-based, and Line navigation

+ no a priori knowledge regarding positions of landmarks is assumed relies on identication and subsequent recognition of distinct features or objects quite challenging due to sensor noise or dynamic change of environment & lighting condition
Literature Review
Landmark and vision-based navigation

Landmark-based navigation Vision-based navigation
Vision-based navigation Visual sensory data processing unit are required for interacting with unknown, complex, and dynamic environmental features + can have wide eld-of-view, millisecond sampling rates, widely used for trajectory planning lack of information depth, complex image processing techniques with high computational overhead, and dependence on environmental lighting conditions

Literature Review
Behaviour-based navigation
Incorporate tools of computational intelligence, such as fuzzy logic, neural networks, genetic algorithm or several combination of them + assists to cope with large amount of uncertainty inherited from natural environment + can incorporate large number of sensors still suffer from high computational burden

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RFID Technology
Outline
1 2 3 4 5 6

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RFID Technology
RFID Technology
What is it? A simple technology that involves tags (or transponders) which emit signals to other devices called readers (or interrogators) which then pick up those signals

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RFID Technology
RFID Technology
What is it? A simple technology that involves tags (or transponders) which emit signals to other devices called readers (or interrogators) which then pick up those signals Advantages It relies on radio frequency rather than light, which is required in AIDC systems Use of radio frequency means that RFID can communicate:
O without line-of-sight O at greater speed, and O over greater distances

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RFID Technology
RFID Technology
Components of RFID system RF subsystem Enterprise subsystem Inter-enterprise subsystem

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RFID Technology
RFID Technology
Energy RFID Reader
Components of RFID system RF subsystem Enterprise subsystem Inter-enterprise subsystem RF subsystem

Wireless communication Data
RFID Tag (Contactless data carrier)

Coupling elements (Coil, microwave antenna)
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Navigation: Customized RFID Reader Architecture
Outline
1 2 3 4
Introduction Literature Review RFID Technology Navigation: Customized RFID Reader Architecture Features Methodology Simulation Resuts Navigation: Customized RFID Tag Architecture Conclusion

5 6
Features
Features Customized RFID reader mounted on robot and tags are attached in unknown locations (on ceiling for instance)

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Features
Features Customized RFID reader mounted on robot and tags are attached in unknown locations (on ceiling for instance) Reader sends RF signals to tags and receives analogue information (phase difference)

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Features
Features Customized RFID reader mounted on robot and tags are attached in unknown locations (on ceiling for instance) Reader sends RF signals to tags and receives analogue information (phase difference) Phase difference is passed to FLC of the robot to provide necessary control actions

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Features
Features Customized RFID reader mounted on robot and tags are attached in unknown locations (on ceiling for instance) Reader sends RF signals to tags and receives analogue information (phase difference) Phase difference is passed to FLC of the robot to provide necessary control actions Robot can track lines connecting the orthogonal projection points of tags on the ground

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Methodology
Customized RFID Reader

Reader Receiving antennas
Transmitting antenna
x (t)
Introduction Literature Review RFID Technology

I Q Transponder Digital signal
I
BPF, Amplier, Mixer
ID
Q y(t)

Processing element
1 , 2 ,
= tan1
I Q

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Methodology
Fuzzy Logic Controller

Mobile Robot Navigation Using RFID Tech. Introduction
+Y World coordinate system Desired direction
Literature Review RFID Technology Navigation: Customized RFID Reader Architecture

1
Input Phase dierence () Fuzzy logic controller Output Orientation update ()Robots current direction
Target position
2 Robots current position -X +X
-Y
new 1
old 1

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Methodology
Fuzzy Logic Controller

Input Membership Functions

Neg 1 Zero Pos
1
Ouput Membership Functions

CW Zero CCW
-180
-20
-10
+10 +20
+180
degrees -10
-5
Phase dierence ()
0 +5 Orientation update ()
10
degrees

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Simulation Resuts
Effect of robots position and orientation

Ceiling
Setup
Workspace dimension 20 20 3 m. RFID system: 960 MHz. Robot speed are xed to 0.2 m/s and 0.4 rad/s. Goal: reaching a xed point on ground.
X 10 (m)
Tag (Target) (0,5,3)
+10 (m)
Robot destination (0,5,0) +10 (m) X Mobile robot Initial position = (0,0,0) Initial direction = 90 degrees 10 (m) Y

Ground
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Simulation Resuts
Simulation results
Y (m) Y (m) 7 Tag (Target) 6 5 Robot trajectory Tag
5 4.5 4 3.5 Distance (m)

Initial direction Initial Position 0 1 2 3 X (m) 4 5 6 7
4 3 2 1 0 1 1
3 2.5 2 1.5 1 0.5 0 0 10 20 30 Time (s) 40 50
7 6 5 Tag (Target) Robot Trajectory Tag
5 4.5 4 3.5 Distance (m)

Initial Position Initial direction 0 1 2 3 X (m) 4 5 6 7
4 3 2 1
3 2.5 2 1.5

1
0 1 1
0.5 0 0 10 20 30 Time (s) 40 50 60
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Simulation Resuts
Robots trajectory tracking ability

Ceiling
Setup Desired trajectory: a straight line. Robot position: (x, y, z) = (2, 2, 0).
X 10 (m) (0,0,0) Mobile robot Initial position = (2,2,0) Initial direction = 90 degrees 10 (m) Y Tag1 (Target1) (0,0,3)
Tag2 (Target2) (0,5,3)
+10 (m)
Robot destination (0,5,0)
+10 (m) X

Ground
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Simulation Resuts
Simulation results
Y (m) Y (m) 7 Tag 2 (Target 2) 6 5 4 3 2 1 0 1 2 3 3 2 1 Initial Position 0 1 2 X (m) 3 4 5 6 7 Initial direction Tag 1 (Target 1) Actual trajectory Desired trajectory
0.08 0.07 0.06 0.05 Error (m) 0.04 0.03 0.02 0.01 0 0.01 30
40
50
60 70 Time (s)
80
90
100
7 6 5 4 3 2 1 Tag 2 (Target 2) Actual trajectory Desired trajectory
0.08 0.07 0.06 0.05 Error (m)

Initial Position Tag 1 (Target 1) Initial direction 2 1 0 1 2 X (m) 3 4 5 6 7
0.04 0.03 0.02 0.01 0 0.01 30

1 2 3 3
40
50
60 70 Time (s)
80
90
100
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Simulation Resuts
Testing complex path

Ceiling
Tag4 (Target4) (5,10,3)
Setup Desired trajectory: following three segment path. Robot position: (x, y, z) = (0, 0, 0).
X 10 (m) Ground
Tag2 (Target2) (0,5,3) Tag3 (Target3) (5,5,3) Tag1 (Target1) (0,0,3)
(5,10,0)
+10 (m)
(0,5,0) (5,5,0) (0,0,0) +10 (m) X Mobile robot Initial position = (0,0,0) Initial direction = 90 degrees 10 (m) Y

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Simulation Resuts
Simulation results
10
0.3
Target Tag 3 Actual trajectory Desired trajectory
Y (m)
9 8 7
0.2
0.1
Target Tag 1
5 4 3 2 1 0 6 Source Tag Initial Position 4 2 0 2 X (m) 4 6 8 10 12 Target Tag 2
Error (m)
Initial direction
0.1
0.2
0.3
0.4
50
100 Time (s)
150
200

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Outline
1 2 3 4 5
Introduction Literature Review RFID Technology Navigation: Customized RFID Reader Architecture Navigation: Customized RFID Tag Architecture Features Methodology Simulation Results Conclusion

Features
Features Commercial RFID reader mounted on robot and customized tags are attached at ceiling

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Features
Features Commercial RFID reader mounted on robot and customized tags are attached at ceiling Reader sends RF signals to tags and receives backscattered signal just like a conventional tag ID

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Features
Features Commercial RFID reader mounted on robot and customized tags are attached at ceiling Reader sends RF signals to tags and receives backscattered signal just like a conventional tag ID Robot decodes the received information and nd its position using trilateration method

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Features
Features Commercial RFID reader mounted on robot and customized tags are attached at ceiling Reader sends RF signals to tags and receives backscattered signal just like a conventional tag ID Robot decodes the received information and nd its position using trilateration method Desired angle between the Robot and target is calculated

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Features
Features Commercial RFID reader mounted on robot and customized tags are attached at ceiling Reader sends RF signals to tags and receives backscattered signal just like a conventional tag ID Robot decodes the received information and nd its position using trilateration method Desired angle between the Robot and target is calculated Angle is passed to FLC for control actions

25 / 37
Features
Features Commercial RFID reader mounted on robot and customized tags are attached at ceiling Reader sends RF signals to tags and receives backscattered signal just like a conventional tag ID Robot decodes the received information and nd its position using trilateration method Desired angle between the Robot and target is calculated Angle is passed to FLC for control actions Robots desired path can be independent by the tag locations

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Methodology
Methodology
Reader
Customized RFID tag

Energy Electromagnetic wave
RFID communication module

Transponder
Literature Review RFID Technology
Transceiver Interface
Other Devices

Transponder
Wireless Communication Memory
RFID readers interface
Sign bit
DC Power Generator
Frame (40 bits) 8 bit Tag ID 1 bit 15 bit (Integer part) 16 bit (Fraction part)

Robots processing unit
Tag received power (in DB)
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Methodology
Robot positioning system

T ag1 R2
Robot positioning system
R1
Estimated robot location T ag3
T ag2

Fuzzy logic controller
Input Angle ()
Fuzzy logic controller
Output Orientation update ()
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Simulation Results
Two Segment Path

Robot destination P3(5,3,0) P2(0,3,0) +10 (m) X Tag3 (5,3,3) Tag2 (0,3,3) Ceiling
Tag1 (0,0,3)
+10 (m)

X 10 (m) Mobile robot Initial position = (1,1,0) Initial direction = 0 degrees Ground
P1(0,0,0)
10 (m) Y
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Simulation Results
9 P2 4 Phase 2 2 Actual trajectory Desired trajectory 10 From Tag1 From Tag2 12 From Tag3
P3 Y (m) 0 Inititial position P1 Initial direction 2
Received Power (dB)
Phase 1
11
13
14 4
15
6 6
16 4 2 0 X (m) 2 4
20
40
60 Time (s)
80
100
120
0.35 Phase 1 0.3 Phase 2
0.25
Error (m)
0.2
0.15

0.1
0.05
20
40
60 Time (s)
80
100
120
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Simulation Results
Three Segment Path

Ceiling
Tag3 (5,3,3) Tag1 (0,0,3)
Tag2 (0,3,3) Tag4 (5,2,3)
+10 (m)
P3(5,3,0)
P2(0,3,0) Robot destination P4(5,2,0) P1(0,0,0) +10 (m) X

X 10 (m) Mobile robot Initial position = (1,1,0) Initial direction = 270 degrees Ground
10 (m) Y
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Simulation Results
Noise Model for Three Segment Path

45 9 10 11 35 30 25 20 15 17 10 5 18 3 4 5 Distance (m) 6 7 8 19 3 4 5 Distance (m) 6 7 8 received Power (dB) 12 13 14 15 16
Introduction
SNR (SignaltoNoise Ratio) dB
40


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Simulation Results
8 6 P3 4 Phase 2 P2 Actual trajectory Desired trajectory 10 P4 Phase 3 2 Y (m) Phase 1 0 P1 Initial position 2 Initial direction 12 Received Power (dB)
From Tag1From Tag2
From Tag3
From Tag4
14
16
18
20

6 6
22 4 2 0 X (m) 2 4 6
50
100
150 Time (s)
200
250
300
0.5 0.45 0.4 0.35 0.3 0.25 0.2 0.15 0.1 0.05 0 0
Phase 1 Phase 2 Phase 3

Error (m)
50
100
150 Time (s)
200
250
300
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Simulation Results
Results with P-controller: = Kp

0.7 4 P3 Phase 2 2 Phase 1 Error (m) Initial position Y (m) 0 P1 0.4 P2 Actual trajectory Desired trajectory 0.6 Phase 1 Phase 2
0.5
0.3
Initial direction 0.2

0.1
6 6
0 X (m)
20
40
60 Time (s)
80
100
120
0.7 6 P3 4 P2 P4 Phase 2 0.5 Phase 3 Phase 1 0 P1 Initial position Initial direction Error (m) Actual trajectory Desired trajectory 0.6 Phase 1 Phase 2 Phase 3
2 Y (m)
0.4

0.3
0.2
0.1
6 6
0 4 2 0 X (m) 2 4 6
50
100
150 Time (s)
200
250
300
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Conclusion
Outline
1 2 3 4 5 6
Introduction Literature Review RFID Technology Navigation: Customized RFID Reader Architecture Navigation: Customized RFID Tag Architecture Conclusion Future Work

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Conclusion
Conclusion
Two novel solutions for mobile robot navigation problem based on minor customization of commercial RFID system First algorithm uses custom-made two-antenna RFID reader mounted on robot
RFID reader provides tag ID and phase difference Robot can reach any specied RFID tag location using intelligent processing of phase difference
Second algorithm focuses on customized RFID tag architecture

Robot calculates absolute position based on signal power received from at least three tags Position information is used to navigate any complex desired path Provides fault-tolerance capability

Conclusion
Conclusion
First algorithm is better in terms of computational overhead, simplicity, and accuracy, but more challenging to implement on a physical robotic system Second algorithm provides instantaneous position information Proposed algorithm eliminates several existing algorithms limitations, such as odometric error, complex image processing technique, sensor noise, etc. System Features
acceptable accuracy computationally efcient modular inexpensive

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Conclusion
Future Work
Future Work Practical realization of both algorithms on a real robot (Ph.D. work) Append real-time path planning module by knowing RFID tag locations in advance Incorporate several range sensors for realizing obstacle avoidance strategy

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Mobile Robot Navigation Using RFID Tech.

Autonomous Mobile Robot Navigation Using RFID Technology

Navigation: Customized RFID Tag Architecture

Thursday, October 11, 2007

Conclusion Future Work M. S. Miahs Masters Thesis Defense

Mobile Robot Navigation Using RFID Tech.

Thursday, October 11, 2007

Navigation: Customized RFID Tag Architecture

Conclusion Future Work M. S. Miahs Masters Thesis Defense

Navigation: Customized RFID Tag Architecture

Conclusion Future Work M. S. Miahs Masters Thesis Defense

Mobile Robot Navigation Using RFID Tech.

Thursday, October 11, 2007

Navigation: Customized RFID Tag Architecture

Conclusion Future Work M. S. Miahs Masters Thesis Defense

Mobile Robot Navigation Using RFID Tech.

Thursday, October 11, 2007

Navigation: Customized RFID Tag Architecture

Conclusion Future Work M. S. Miahs Masters Thesis Defense

Mobile Robot Navigation Using RFID Tech.

Thursday, October 11, 2007

Motivation Challenges Objectives

Navigation: Customized RFID Tag Architecture

Conclusion Future Work M. S. Miahs Masters Thesis Defense

Mobile Robot Navigation Using RFID Tech.

Thursday, October 11, 2007

Navigation: Customized RFID Tag Architecture

Conclusion Future Work M. S. Miahs Masters Thesis Defense

Mobile Robot Navigation Using RFID Tech.

Thursday, October 11, 2007

Navigation: Customized RFID Tag Architecture

Conclusion Future Work M. S. Miahs Masters Thesis Defense

Mobile Robot Navigation Using RFID Tech.

Thursday, October 11, 2007

Navigation: Customized RFID Tag Architecture

Conclusion Future Work M. S. Miahs Masters Thesis Defense

Mobile Robot Navigation Using RFID Tech.

Thursday, October 11, 2007

Landmark and vision-based navigation

Navigation: Customized RFID Tag Architecture

Conclusion Future Work M. S. Miahs Masters Thesis Defense

Landmark and vision-based navigation

Landmark-based navigation Vision-based navigation

Navigation: Customized RFID Tag Architecture

Conclusion Future Work M. S. Miahs Masters Thesis Defense

Navigation: Customized RFID Tag Architecture

Conclusion Future Work M. S. Miahs Masters Thesis Defense

Mobile Robot Navigation Using RFID Tech.

Thursday, October 11, 2007

Navigation: Customized RFID Tag Architecture

Conclusion Future Work M. S. Miahs Masters Thesis Defense

Mobile Robot Navigation Using RFID Tech.

Thursday, October 11, 2007

Navigation: Customized RFID Tag Architecture

Conclusion Future Work M. S. Miahs Masters Thesis Defense

Mobile Robot Navigation Using RFID Tech.

Thursday, October 11, 2007

Navigation: Customized RFID Tag Architecture

Conclusion Future Work M. S. Miahs Masters Thesis Defense

Mobile Robot Navigation Using RFID Tech.

Thursday, October 11, 2007

Components of RFID system RF subsystem Enterprise subsystem Inter-enterprise subsystem

Navigation: Customized RFID Tag Architecture