Novel UHF-RFID Listener Hardware Architecture and System Concept for a Mobile Robot Based MIMO SAR RFID Localization

Gareis M, Hehn M, Stief P, Körner G, Birkenhauer C, Trabert J, Mehner T, Vossiek M, Carlowitz C (2020)

Publication Language: English

Publication Type: Journal article, Review article

Publication year: 2020

Journal

IEEE Access Institute of Electrical and Electronics Engineers (IEEE)

Pages Range: 497-510

Journal Issue: 9

DOI: 10.1109/ACCESS.2020.3047122

Abstract

In this paper, we introduce an ultra-high frequency radio frequency identification (UHF-RFID) mobile robot platform that is capable of performing fully autonomous inventory taking and stocktaking by providing three-dimensional (3D) product maps and thus making possible the concept of a smart warehouse. The proposed novel hardware architecture consists of an eight-channel UHF-RFID-listener for parallel signal phase recovery, including two different carrier leakage suppression circuits and a correlation decoder for each channel for the tag signal, which can handle a backscatter link frequency (BLF) deviation of up to 22 % to decode the tag data. The system also uses eight parallel channels for multiple-input multiple-output (MIMO) localization. For the system evaluation we labeled clothes stored in a warehouse with tags and generated their product map. The proposed localization algorithm is based on a synthetic aperture radar (SAR) MIMO approach that needs exact knowledge of the antenna positions and, therefore, of the driven trajectory. This position is provided by the robot, which takes advantage of a simultaneous localization and mapping (SLAM) algorithm, determining the position with 1 cm accuracy while generating two-dimensional (2D) maps of the surroundings. We placed ten tags at known positions to assess the system’s performance and were able to locate these tags within a root mean square error (RMSE) of 1.45 cm in 3D.

Authors with CRIS profile

Matthias Gareis Lehrstuhl für Hochfrequenztechnik (LHFT) Markus Hehn Lehrstuhl für Hochfrequenztechnik (LHFT) Patrick Stief Lehrstuhl für Hochfrequenztechnik (LHFT) Georg Körner Lehrstuhl für Hochfrequenztechnik (LHFT) Christoph Birkenhauer Lehrstuhl für Hochfrequenztechnik (LHFT) Martin Vossiek Lehrstuhl für Hochfrequenztechnik (LHFT) Christian Carlowitz Lehrstuhl für Hochfrequenztechnik (LHFT)

Involved external institutions

MetraLabs GmbH Neue Technologien und Systeme DE Germany (DE)

How to cite

APA:

Gareis, M., Hehn, M., Stief, P., Körner, G., Birkenhauer, C., Trabert, J.,... Carlowitz, C. (2020). Novel UHF-RFID Listener Hardware Architecture and System Concept for a Mobile Robot Based MIMO SAR RFID Localization. IEEE Access, 9, 497-510. https://doi.org/10.1109/ACCESS.2020.3047122

MLA:

Gareis, Matthias, et al. "Novel UHF-RFID Listener Hardware Architecture and System Concept for a Mobile Robot Based MIMO SAR RFID Localization." IEEE Access 9 (2020): 497-510.

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