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We present RL2, a robotic system for efficient and accurate localization of UHF RFID tags. In contrast to past robotic RFID localization systems, which have mostly focused on location accuracy, RL2 learns how to jointly optimize the accuracy and speed of localization. To do so, it introduces a reinforcement learning-based (RL) trajectory optimization network that learns the next best trajectory for a robot-mounted reader antenna. Our algorithm encodes the aperture length and location confidence (using a synthetic-aperture-radar formulation) from multiple RFID tags into the state observations and uses them to learn the optimal trajectory. We built an end-to-end prototype of RL2 with an antenna moving on a ceiling-mounted 2D robotic track. We evaluated RL2 and demonstrated that with the median 3D localization accuracy of 0.55m, it locates multiple RFID tags 2.13x faster compared to a baseline strategy. Our results show the potential for RL-based RFID localization to enhance the efficiency of RFID inventory processes in areas spanning manufacturing, retail, and logistics.
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UHF RFID tag localization using pattern reconfigurable reader antenna
Passive ultra high frequency (UHF) radio frequency identification (RFID) tags have the potential to find ubiquitous use in indoor object tracking, localization, and contact tracing. We propose a machine learning-based method for RFID indoor localization using a pattern reconfigurable UHF RFID reader antenna array. The received signal strength indicator (RSSI) values (from 10,000 tags) recorded at the reader antenna units are used as features to evaluate the machine learning models with a train-test split of 75%-25%. The training and testing data is generated by a wireless ray tracing simulator. Five machine learning models: random forest regressor, decision tree regressor, Nu support vector regressor, k nearest regressor, and kernel ridge regressor are compared. Random forest regressor has the lowest localization error both in terms of average Euclidean distance (AED) and root-mean-square error (RMSE). For random forest regressor, localization error results show that 90% of the tags are within 1 meter of their true position, and 67% are within 50 cm of their true position based on Euclidean distance.
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- Award ID(s):
- 1816387
- PAR ID:
- 10355674
- Date Published:
- Journal Name:
- 2022 IEEE 22nd Annual Wireless and Microwave Technology Conference (WAMICON)
- Page Range / eLocation ID:
- 1 to 4
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1109/WAMICON53991.2022.9786069
