Design of indoor robot prototype guided by RFID based positioning and navigation system

Abstract

In this study, a robot prototype was designed for indoor spaces guided by an RFID-based positioning and navigation system. First, the work area was prepared from cardboard material and RFID cards were placed at predetermined points in the work area. The unique ID number of each RFID card was defined and the coordinates of their location in the work area are known. The RFID reader in the robot prototype reads from less than 5 cm. With a basic approach, when the robot reads an RFID card that it passes over while in motion, the position of the robot is considered the same as the position of the card it is currently reading. The route is defined for the robot prototype whose location is known before starting the movement. When the robot reads a new RFID card during movement, it must move forward or turn left or right to reach the point where the next RFID card is located according to the route. This decision was predetermined and defined according to its location. Alphabot was used as the prototype. Arduino board and additional auxiliary sensors such as gyro sensor, speed sensors, distance sensors are placed on the prototype. The prototype robot is left at any point in the work area and arrives at a target point determined by the user. The required road route to reach the destination is calculated with the shortest path algorithm depending on the road network on the working area and the route is defined. Thus, it is ensured that the prototype reaches the target without any external intervention by the user other than target determination.