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Integration of RFID localization, obstacle avoidance and visualization in a moving robot

Nikolaidis Antonis

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Summary

This thesis is pertinent to robot navigation across the same or different floors of the same building, while avoiding obstacles in extensive indoor areas. The robot is mobile across multiple floors exploiting camera and laser sensors to ensure elevator entry and navigation through different levels. The designed robot system is autonomous and capitalizes on precise localization algorithms for ultra-low cost radio frequency identification (RFID) tags. However, the autonomy is temporarily halted when the robot requests an individual to press buttons through voice commands at the elevator. It is exhibited that the robot can enter and exit the elevator when moving between different floors and navigate safely, avoiding standing or moving humans in the building. The visualization of the robot’s path and the accessed RFID tags is performed with tools provided by the robot operating system (ROS) visual called RVIZ. The user has the opportunity to select different routes, where the robot can either move on both floors, or in one of them exclusively. The selected route established in this thesis, was used to gather the traveling measurements and was also set to visit three specific locations and localize RFID tags on each location. Two of these locations were placed on the first floor, while the remaining one was positioned on the second one. When the robot navigates on these locations, while avoiding obstacles, it has to enter the elevator twice which results to real-world travel time of 19 minutes and 11 seconds, covering approximately a total distance of 194 meters, with a constant robot velocity at 0.25 meters/second. In free-space, without unpredictable obstacles, such as moving people, it would require 12 minutes and 56 seconds. However, by taking into consideration the time during the elevator (3 minutes) and the RFID tag localization procedures (2 minutes and 45 seconds), an additional 5minutes and 45 seconds is added, giving a total time of 18 minutes and 41 seconds.

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