Localization, Tracking and Following a Moving Target by an RFID Equipped Robot

In this paper, we present a prototype algorithm for tracking and following a moving target through RFID technology by a robot. The robot is equipped with two front facing antennas, which collect phase measurements of the tag’s modulated signal. We consider a direction-finding algorithm, based on particle filter theory, which exploits the phase-measurements to assign weights to the particles. The proposed track-and-follow robot is successfully tested in a laboratory environment and will be deployed inside a museum.