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Intelligent Mobile ROBOT Navigation Technique Using RFID Technique

Submitted to: abc
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2012
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* INDEX *
Abstract..3 Introduction..4 RFID technology..5 Using RFID for Accurate Positioning .7 RFID Background RFID Positining Microprocessors.. Driving relays Encoder HT 12 E Decoder HT 12 D RF Transmitter RF Receiver Atmel 89C2051 MicroController System Architecture RFID communication Module FLC Navigation Module Proposed Navigation Algorithim

A B S T R A C T

The mobile robot is controlled using mobile and wireless RF communication. In this method controlling is done depending on the feedback provided by the sensor. This contains different modules such as Wireless unit module Sensing and controlling module When no prior knowledge of the environment is available, the problem becomes even more challenging, since the robot has to build a Map of in conjunction due to their interdependency.

Its Surroundings as it moves. These three tasks ought to be solved

In the sensing module when the PIC micro controller is powered up by the high-speed dc motors. The sensor is mounted on the robot. The encoder mounted on the robot transmitting the data continuously And a number of standard RFID tags attached in robots environment to define its path. Here the robot consists of Transmitter and receiver. Here the frequency used is 433 kHz. Here we show that using RF signals from the RFID tags as an analog feedback signals can be promising strategy to navigate a mobile robot within an unknown or uncertain environment.

INTRODUCTION

This method is computationally simpler and more cost effective than many of its counterparts in the state-of-the-art. It is also modular and easy to implement since it is independent of the robots architecture and its work space. The main idea is to exploit the ability of a mobile robot to navigate a priori unknown environments without a vision system and without building an approximate map of the robot workspace, as is the case in most other navigation algorithms. The suggested algorithm is capable of reaching a target point in its a priori unknown workspace, as well as tracking a desired trajectory with a high precision. The proposed algorithm takes advantage of the emerging Radio Frequency Identification (RFID) technology and a Fuzzy Logic Controller (FLC) to guide the robot to navigate in its working volume. This navigation method is based on continuous encoder readings that provide the position, orientations and linear and angular velocities of robot. Several modules are involved in operating mobile platforms, such as, for example, the localization, navigation, obstacle avoidance, and path planning modules. The most common and popular navigation methods proposed in the literature to date rely on dead-reckoning based, landmark-based, vision-based, and behavior-based techniques.

(dia : fig 1 of 65 pdf)

RFID TECHNOLOGY

RFID is an automatic identification method that relies on storing and remotely retrieving data. A basic RFID system consists of three components: An antenna or coil A transceiver (with decoder) A transponder (RF tag) electronically programmed with unique information

The Antenna emits radio signals to activate the tag and to read and write to it. The reader emits radio waves in ranges of anywhere from one inch to 100 feet or more, depending upon its power output and the Radio Frequency used. When an RFID tag passes through the electromagnetic zone,it detects the readers activation signal. The reader decodes the data encoded in the tags integrated circuit (silicon chip) and the data is passed to the host computer for processing The purpose of an RFID system is to enable data to be transmitted by a portable device, called a tag, which is read by an RFID reader and processed according to the needs of a particular application. The data transmitted by the tag may provide identification or location information, or specifics about the product tagged, such as price, color, date of purchase, etc. RFID quickly gained attention because of its ability to track moving objects.

Using RFID for Accurate Positioning

The RFID positioning can be divided into four steps: in the first step, install RFID tags on roads in a certain way, store very accurate location information along with other necessary information to the tags, add an RFID reader module to the navigation system, and use this new location information. Apart from the RFID system, we also propose to use a tag database. Due to the memory constraint on the tag and the data size that needs be written in a tag, the use of a database for tags is a necessary condition. In addition, the speed of the RFID communication also makes the use of the tag database indispensable.

RFID BACKGROUND:
In this section a brief overview of RFID technology in general is given. An RFID system consists of tags, a reader with an antenna, and software such as a driver and middleware. The main function of the RFID system is to retrieve information (ID) from a tag (also known as a transponder). Tags are usually affixed to objects such as goods or animals so that it becomes possible to locate where the goods and animals are without line-of-sight. A tag can include additional information other than the ID, which opens up opportunities to new application areas. An RFID reader together with an antenna reads (or interrogates) the tags. An antenna is sometimes treated as a separate part of an RFID system. It is, however, more appropriate to consider it as an integral feature in both readers and tags since it is essential for communication between them. There are two methods to communicate between readers and tags; inductive coupling and electromagnetic waves. In the former case, the antenna coil of the reader induces a magnetic field in the antenna coil of the tag. The tag then uses the induced field energy to communicate data back to the reader. Due to this reason inductive coupling only applies in a few tens of centimeter communication. In the latter case, the reader radiates the energy in the form of electromagnetic waves. Some portion of the energy is absorbed by the tag to turn on the tags circuit. After the tag wake up, some of the energy is reflected back to the reader. The reflected energy can be modulated to transfer the data contained in the tag. Three frequency ranges are generally used for RFID systems: low (100~500 kHz), intermediate (10~15 MHz), and high (850~950 MHz, 2.4~5.8 GHz). The communication range in an RFID system is mainly determined by the output power of the reader to communicate with the tags. The field from an antenna extends into the space and its strength diminishes with respect to the distance to tags. The antenna design determines the shape of the field so that the range is also influenced by the beam pattern between the tag and antenna. Although it is possible to choose power levels for different applications, it is usually not allowed

to have complete freedom of choice due to legislative constraints on power levels as in the case of the restrictions on carrier frequencies.

we propose to use RFID technology for positioning. This technique, however, would not replace GPS rather it is a complementary technique. In this section, we give an overview of the RFID positioning and describe the feasibility of the idea.

RFID POSITIONING:

Overview
The RFID positioning can be explained as follows: First, RFID tags need to be installed on a road in a manner which could maximize the coverage and the accuracy of positioning. Upon installation, necessary information such as coordinates of the location where the tag is installed needs to be written on each tag. The accuracy of this position information is very critical for this technique to be successful. The position information can be acquired by using DGPS or some other methods, which would take much longer time to compute the location. Contrary to GPS in navigation systems where real time positioning is necessary, the time for getting the accurate information would be tolerated since this computation would take place once. Vehicles, then, need to be equipped with an RFID reader that can communicate with the tags on a road. No matter how accurate the RFID positioning is, it only gives the position where the tags are. Therefore the vehicles need also to be equipped with a GPS receiver and inertial sensors such as a gyroscope for positioning when there are no tags around. While driving, the vehicles constantly monitor the presence of a tag. On detection, the reader retrieves the information from the tag including a lane marker. The deployment should be done step by step: places such as tunnels from which getting GPS signal is not an option should be the first, intersections the next, urban areas, and then nationwide.

Feasibility
In this subsection, the issues of feasibility of the RFID positioning are discussed. Contrary to the robot case, let us assume an RFID tag be installed on a road, where the operation environment for the tag is very harsh; high temperature in summer, low in winter, dusts, rain, snow, etc. Furthermore, vehicles equipped with an RFID reader thatis compatible to the tags on the roads can move very fast; some cars (Porsche) can go as fast as 300 km/h. To be more useful the tags should contain the information about the road property (number of lanes, which lane it is on, how far to the nearest intersection, etc) other than the location information.

More data decreases the communication speed and requires more memory, which leads to high cost. In summary, there are issues to be addressed before full-fledged deployment of RFID tags nationwide. Making RFID tags that can withstand a harsh environment. Fast communication speed between readers and tags. The data size

Figure 1. RFID Tags on a Road

Tag Database
While there would be location information in a tag, it would be almost impossible to embed all the necessary information in a tag due to memory constraints and the dynamic nature of some information. Information such as absolute coordinates of the location will not be changed. On the contrary, relative coordinates and the property of the road on which the tag is could change some time (unlikely, though). Moreover, we can embed more useful information such as nearest museums, restraints, and gas stations. However, the contents of the information vary all the time. The data size as well as the dynamic nature of it prevents from writing all the information at the installation time. To address this issue, we devise a tag database which stores information corresponding to the tags available on the roads in a region (country for instance). The information stored in the tag database is whatever information on real tags and more such as point of interests. Another reason for the necessity of the tag database comes from the speed of the RFID communication. It may not be fast enough to get all the information from a tag while driving at, for instance, 150km/h. However, getting only identification (ID) is very feasible even at such a high velocity. Once the ID is retrieved, it can be efficiently searched the tag database and extracted whatever information necessary.

The tag database is a collection of tags and a part of the digital map that a navigation system may carry. Generally, a digital map consists of cells each of which contains network information for route guidance. The network information is a graph with nodes and links. Figure 2 shows a class diagram of the digital map. In the diagram, TagDB is an aggregation of Tag objects which represent tags in a real world. Each cell has links to the collections of nodes, links, and tags. For simplicity, we only show the attributes of the Tag object. As in the diagram, a Tag object includes ID, absolute coordinates X and Y, relative coordinates RX and RY, link ID where the tag is, and the property field. This last field is for the number of lanes of the link, type of the road (highway, local, etc), and so on. In Java language and most of other programming languages, type long is 8 bytes, type float and int are 4 bytes, and type short is 2 bytes.

Figure 2. Tag Database Class Diagram

The data size of a tag is 30 bytes. Therefore even with a million tags on the roads, thereby in the database, the size of the tag database is approximately 30MB. Since more and more embedded devices have large flash memories and even gigabytes of hard drives, the sheer size of the tag database would not be a big issue.

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MICROPROCESSORS
Driving Relays:

Using the outputs of the HT-12D or HT-648L decoder ICs to drive relays is quite simple. Here are schematics showing how to drive relays directly from the dataoutput pins of the decoder.

ENCODER HT12E :
HT12E is an encoder integrated circuit of 212 series of encoders. They are paired with 212 series of decoders for use in remote control system applications. It is mainly used in interfacing RF and infrared circuits. The chosen pair of encoder/decoder should have same number of addresses and data format. Simply put, HT12E converts the parallel inputs into serial output. It encodes the 12 bit parallel data into serial for transmission through an RF transmitter. These 12 bits are divided into 8 address bits and 4 data bits. HT12E has a transmission enable pin which is active low. When a trigger signal is received on TE pin, the programmed addresses/data are transmitted together with the header bits via an RF or an infrared transmission medium. HT12E begins a 4-word transmission cycle

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upon receipt of a transmission enable. This cycle is repeated as long as TE is kept low. As soon as TE returns to high, the encoder output completes its final cycle and then stops.

Operating voltage 2.4V~12V for the HT12E Low power and high noise immunity CMOS technology Low standby current: 0.1_A (typ.) at VDD=5V HT12A with a 38kHz carrier for infrared transmission medium Minimum transmission word Four words for the HT12E Built-in oscillator needs only 5% resistor Data code has positive polarity Minimal external components HT12A/E: 18-pin DIP SOP package

FEATURES

Pin Diagram:

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Pin Description:
Pin No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 Function Name A0 A1 A2 A3 A4 A5 A6 A7 Ground AD0 AD1 AD2 AD3 TE Osc2 Osc1 Output Vcc

8 bit Address pins for input

Ground (0V) 4 bit Data/Address pins for input Transmission enable; active low Oscillator input Oscillator output Serial data output Supply voltage; 5V (2.4V-12V)

BLOCK DIAGRAM

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FLOW CHART

TIMING DIAGRAM

DECODER HT12D:

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HT12D is a decoder integrated circuit that belongs to 212 series of decoders. This series of decoders are mainly used for remote control system applications, like burglar alarm, car door controller, security system etc. It is mainly provided to interface RF and infrared circuits. They are paired with 212series of encoders. The chosen pair of encoder/decoder should have same number of addresses and data format. In simple terms, HT12D converts the serial input into parallel outputs. It decodes the serial addresses and data received by, say, an RF receiver, into parallel data and sends them to output data pins. The serial input data is compared with the local addresses three times continuously. The input data code is decoded when no error or unmatched codes are found. A valid transmission in indicated by a high signal at VT pin. HT12D is capable of decoding 12 bits, of which 8 are address bits and 4 are data bits. The data on 4 bit latch type output pins remain unchanged until new is received.

Operating voltage 2.4V~12V Low power and high noise immunity CMOS Technology Low standby current Capable of decoding 12 bits of information Pair with Holteks 2 Series of encoders Received codes are checked 3 times Address/Data number combination HT12D: 8 address bits and 4 data bits HT12F: 12 address bits only Built-in oscillator needs only 5% resistor Easy interface with an RF or an infrared transmission medium

FEATURES

Pin Diagram of HT 12D

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Or Pdf (dia)

PIN DESCRIPTION
The Port 1 is an 8-bit bi-directional I/O port. Port pins P1.2 to P1.7 provide internal pull-ups.

PORT 1

P1.0 and P1.1 require external pull-ups. P1.0 and P1.1 also serve as the positive input (AIN0)

and the negative input (AIN1), respectively, of the on-chip precision analog comparator. The Port 1 out-put buffers can sink 20 mA and can drive LED displays directly. When 1s are written to Port 1 pins, they can be used as inputs. When pins P1.2 to P1.7 are used as inputs and are externally pulled low, they will source current (IIL) because of the internal pull-ups. Port 1 also receives code data during Flash programming and verification.

accessible as a general-purpose I/O pin. The Port 3 output buffers can sink 20 mA. When 1s are written to Port 3 pins they are pulled high by the internal pull-ups and can be used as inputs. As inputs, Port 3 pins that are externally being pulled low will source current (IIL) because of the pull-ups. Port 3 also serves the functions of various special features of the AT89C2051 as listed below: Port 3 also receives some control signals for Flash programming and verification.

Port 3 pins P3.0 to P3.5, P3.7 are seven bi-directional I/O pins with internal pull-ups. P3.6 is hard-wired as an input to the output of the on-chip comparator and is not

PORT 3

Reset input. All I/O pins are reset to 1s as soon as RST goes high. Holding the RST pin high for two machine cycles while the oscillator is running resets the device. Each machine cycle takes 12 oscillator or clock cycles. Input to the inverting oscillator amplifier and input to the internal clock operating circuit. Output from the inverting oscillator amplifier.

RST

XTAL1 XTAL2

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The XTAL1 and XTAL2 are the input and output, respectively, of an inverting amplifier which can be configured for use as an on-chip oscillator, as shown in Figure. Either a quartz crystal or ceramic resonator may be used. To drive the device from an external clock source, XTAL2 should be left unconnected while XTAL1 is driven as shown in Figure. (dia)

OSCILLATOR CHARACTERISTICS

Or
Pin No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 Function Name A0 A1 A2 A3 A4 A5 A6 A7 Ground D0 D1 D2 D3 Input Osc2 Osc1 VT Vcc

8 bit Address pins for input

Ground (0V) 4 bit Data/Address pins for output Serial data input Oscillator output Oscillator input Valid transmission; active high Supply voltage; 5V (2.4V-12V)

Block Diagram of HT 12D

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18

FLOW CHART

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TIMING DIAGRAM

Applications of HT 12E & HT 12D:

Burglar Alarm, Smoke Alarm, Fire Alarm, Car Alarm, Security System Garage Door and Car Door Controllers Cordless telephone Other Remote Control System

The RF Transmitter used is TLP434A.It has frequency range of 315 MHz to 433MHz.It operates at a voltage range of 2-12VDC. (dia)

RF TRANSMITTER:

The RF Receiver used is RLP434A. It has frequency range of 315MHZ to 433MHZ.it operates at a voltage range of 3.3-6 VDC

RF RECEIVER:
(dia)

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The AT89C2051 is a low-voltage, high-performance CMOS 8-bit microcomputer with 2K bytes of Flash programmable and erasable read-only memory (PEROM). The device is manufactured using Atmels high-density nonvolatile memory technology and is compatible with the industry-standard MCS-51 instruction set. The AT89C2051 provides the following standard features: 2K bytes of Flash 128 bytes of RAM 15 I/O lines two 16-bit timer/counters a five vector two-level interrupt architecture a full duplex serial port a precision analog comparator on-chip oscillator and clock circuitry In addition, the AT89C2051 is designed with static logic for operation down to zero frequency and supports two software selectable power saving modes. The Idle Mode stops the CPU while allowing the RAM, timer/counters, serial port and interrupt system to continue functioning. The power-down mode saves the RAM contents but freezes the oscillator disabling all other chip functions until the next hardware reset.

ATMEL 89C2051 MICROCONTROLLER:

PIC16F877 MICROCONTROLLER:

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# SYSTEM ARCHITECTURE #
The proposed navigation system consists of two fundamental modules: an RFID communication module and a Fuzzy Logic Controller (FLC) navigation module.
The RFID communication module is responsible for communicating with the tags (or transponders) through an RFID reader with two receiving antennas mounted on the robot. A high level system configuration setup of the current navigation technique is depicted in Fig. 2, where two RFID tags, T1 and T2, are attached on the ceiling. The robots desired trajectory is the straight-line segment connecting the orthogonal projection points, A and B, of tags T1 and T2, respectively. The robot employs the FLC module in order to provide the necessary control action to its actuators, which is required to move the robot from one point to another in its workspace. Consider a scenario where the robot is presented with a desired trajectory defined by an ordered sequence of tag IDs, like (00, 01), for instance, then it first navigates to the orthogonal projection point of the tag with ID 00, then it moves along the virtual straight line linking the orthogonal projection points of tag IDs 00 and 01, where it will stop. The Novelty in this navigation scheme is that it is independent of the tag positions, odometry information, and structure of the working environment.

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Before starting the mission, the robot sends time multiplexed single-tone sinusoidal signals with different frequencies, and then listens to the backscattered signals from the RFID tags. The high level architecture of the custom-designed RFID communication module is depicted in Fig 3. Preliminary studies were conducted to confirm the fact that using a custom-built RFID reader with two receiving antennas can determine the relative position of the tag (left or right) with respect to the reader mounted on the robot. Let 1 and 2 be the phase angles of the signal received by the readers receiving antennas 1 and 2, respectively. The phase difference, , is then defined by = 1 2. ....(1) This phase difference is then passed to the FLC in order to decide on the robots direction

A. RFID Communication Module

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The purpose of FLC is to provide intelligent actions to be taken by the robot. In the current work, we use a single-input single-output Mamdani-type FLC as shown in Fig. 4. The aim of the FLC is to decide on the amount of tune-up that the robot has to apply to its current direction to converge to its target position. The FLCs input is the phase difference provided by the two directional antennas mounted to the RFID reader on the robot. The robot then uses this information to update its direction following the update rule (2).

B. Fuzzy Logic Controller

(new) = (old) +

(2)

The fuzzification and defuzzification membership functions are taken as linear triangular and trapezoidal membership functions for their higher computational efficiency [19], as depicted in Fig. 5. An empirical analysis was performed to optimize these membership function parameters to improve the FLCs performance. The min and max operators are adopted as the t-norm and snorm operators, while the defuzzification method is set to be the center of area.

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Three fuzzy rules are defined to reflect the fact that the phase difference of the signal is positive when the transmitting transponder is on the left side of the receiving

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antenna and vice versa. These rules are: If is Neg Then is CCW If is Zero Then is Zero If is Pos Then is CW The rationale behind these rules is that the robot is supposed to turn left/right (CCW/CW, for counter-clock wise and clock-wise, respectively) if the RFID tag is on the left/right of the receiving antenna, where is negative and positive, respectively.

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This section explains how the modules described above fit into the overall navigation framework. The efficient coordination among the RFID communication module, FLC, and different actuators of the robot allows it to hav less computational overhead while being executed on the robots processor. The following is a description of the different steps of the algorithm. Step 1: The robot is pre-programmed with an ordered list of tag ID numbers defining its desired path. Step 2: The target tag of the current navigation phase is determined from the ordered list of tags defining the complete robots desired path. Step 3: Once the target tag is known, the robot scans through the signals backscattered from all the tags within its communication range and records the phase angles 1 and 2 of the signal coming from the tag representing the target tag at that time instant. Step 4: The phase difference, , of the destination tags signal is calculated as defined in (1). is then passed to the FLC to quantize the tuneup the robot has to apply to its direction to better direct itself towards its destination. The robot updates its heading as in (2) and dispatches the required control action to its relevant actuators. Step 6: Once the robot reaches the destination tag, it checks for more available destination tag IDs in the desired path. If the current destination tag is the last tag, then the robot simply stops. If not, the algorithm restarts from Step 2. A thorough evaluation of this algorithms performance is provided in the following section.

# PROPOSED NAVIGATION ALGORITHM #

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CONCLUSION
A novel RFID-based robot navigation system is proposed in this paper. The robot is first presented with a sequence of tag IDs defining its desired trajectory. This sequence is then broken into a sequence of ordered pairs of IDs each of which represents a line segment of the overall trajectory. The mobile robot tracks each segment by continuously assessing the phase difference of the RF signals at the readers two receiving antennas coming from the current segments target tag. An FLC is adopted to compute the control effort necessary for the robot actuators to tune its orientation appropriately. Computer simulations were run to demonstrate the algorithms efficiency in tracking various paths of different complexities despite the noise in the RF feedback signal. The proposed algorithm is very modular as it can be easily implemented on virtually any type of robotic systems and working environments. It is computationally inexpensive as it is free of any visual data processing.

With the help of sensor feedback mechanism with RF communication the mobile robot can be controlled from a far distance, which is desirable fact when the robot is working in hazardous environment.

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REFERENCES
http://www.studentsaarthi.com/
www.ojs.academypublisher.com/index.php/jcm/article/.../59 http://www.slideshare.net/wacerone/an-intelligent-mobile-robotnavigation-technique-using-rfid-technology-presentation http://www.aimglobal.org/technologies/RFID/what_is_rfid.asp http://www.aimglobal.org/technologies/RFID/resources/articles/implemen tingRFID.asp http://www.docstoc.com/docs/39817478/Design-an-Intelligent-MobileRobot-for-Perfect-Life http://www.docstoc.com/docs/55845508/Mobile-Robot-Navigation http://www.docstoc.com/docs/44727573/RFID-Technology-A-Review-ofits-Applications http://sic.ici.ro/sic2011_2/art08.php http://aut.researchgateway.ac.nz/handle/10292/652 http://www.siliconindia.com/aiepic/project/intelligent_mobile_robot_navi gation_technique_using_rfid-pid=4786.html

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