A ROS Gazebo plugin design to simulate RFID systems
Simulation, robotics, and Radio Frequency Identification (RFID) technology have significant roles in the new industrial revolution and their applications are key aspects of making Industry 4.0 a reality. Developing efficient use cases in Industry 4.0 almost always requires accurate simulation tools...
| Authors: | ; ; |
|---|---|
| Format: | Article |
| Status: | Published version |
| Publication date: | 2022 |
| Country: | España |
| Institution: | Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya) |
| Repository: | Recercat. Dipósit de la Recerca de Catalunya |
| OAI Identifier: | oai:recercat.cat:10230/72437 |
| Online Access: | https://hdl.handle.net/10230/72437 http://dx.doi.org/10.1109/ACCESS.2022.3204122 http://hdl.handle.net/10230/72437 |
| Access Level: | Open access |
| Keyword: | Gazebo Industry 40 Inventory KEONN Retail RFID plugin RFID technology Robotics ROS UAV |
| _version_ | 1878739556692393985 |
|---|---|
| author | Alajami, Abdussalam A. |
| author2 | Moreno, Guillem Pous Andrés, Rafael |
| author2_role | author author |
| author_browse | Alajami, Abdussalam A. Moreno, Guillem Pous Andrés, Rafael |
| author_facet | Alajami, Abdussalam A. Moreno, Guillem Pous Andrés, Rafael |
| author_role | author |
| collection | Recercat. Dipósit de la Recerca de Catalunya |
| description | Simulation, robotics, and Radio Frequency Identification (RFID) technology have significant roles in the new industrial revolution and their applications are key aspects of making Industry 4.0 a reality. Developing efficient use cases in Industry 4.0 almost always requires accurate simulation tools to be used in the digital world. The problem of simulating RFID readers for robotics in environments where high populations of RFID tags exist is addressed in this paper. This paper will discuss the design of an RFID system plugin based on Robot Operating System (ROS) and Gazebo simulator and the probability-based model on which the plugin is based. To assess the performance of the proposed system model, the simulation results of the designed plugin are compared with experiments. We also prove that the proposed simulator is flexible enough to be used on any robot platform, including aerial and ground robots. We show initial results of the simulation of having an Unmanned Aerial Vehicle (UAV) and a Unmanned Ground Vehicle (UGV) equipped with an RFID reader, navigating in an environment in which RFID tags have been placed. The robots will be reading tags in different map layouts using RFID antennas, with different orientations. We compare the simulation and experimental results in terms of the total unique tag readings vs. time, for various map-layouts. Finally, we show how this plugin can be used in robotics research by using it to simulate a novel, RFID-based stigmergic navigation strategy. We illustrate, the accurate navigation of the UAV using the proposed plugin. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | ES_c3c406be2ef21de35c4e51f5edf0e4e9 |
| institution | Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya) |
| instname_str | Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya) |
| network_acronym_str | ES |
| network_name_str | España |
| oai_identifier_str | oai:recercat.cat:10230/72437 |
| publishDate | 2022 |
| publishDateSort | 2022 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| publisherStr | Institute of Electrical and Electronics Engineers (IEEE) |
| reponame_str | Recercat. Dipósit de la Recerca de Catalunya |
| spelling | A ROS Gazebo plugin design to simulate RFID systems Alajami, Abdussalam A. Moreno, Guillem Pous Andrés, Rafael Gazebo Industry 40 Inventory KEONN Retail RFID plugin RFID technology Robotics ROS UAV Simulation, robotics, and Radio Frequency Identification (RFID) technology have significant roles in the new industrial revolution and their applications are key aspects of making Industry 4.0 a reality. Developing efficient use cases in Industry 4.0 almost always requires accurate simulation tools to be used in the digital world. The problem of simulating RFID readers for robotics in environments where high populations of RFID tags exist is addressed in this paper. This paper will discuss the design of an RFID system plugin based on Robot Operating System (ROS) and Gazebo simulator and the probability-based model on which the plugin is based. To assess the performance of the proposed system model, the simulation results of the designed plugin are compared with experiments. We also prove that the proposed simulator is flexible enough to be used on any robot platform, including aerial and ground robots. We show initial results of the simulation of having an Unmanned Aerial Vehicle (UAV) and a Unmanned Ground Vehicle (UGV) equipped with an RFID reader, navigating in an environment in which RFID tags have been placed. The robots will be reading tags in different map layouts using RFID antennas, with different orientations. We compare the simulation and experimental results in terms of the total unique tag readings vs. time, for various map-layouts. Finally, we show how this plugin can be used in robotics research by using it to simulate a novel, RFID-based stigmergic navigation strategy. We illustrate, the accurate navigation of the UAV using the proposed plugin. Institute of Electrical and Electronics Engineers (IEEE) https://hdl.handle.net/10230/72437 http://dx.doi.org/10.1109/ACCESS.2022.3204122 http://hdl.handle.net/10230/72437 |
| spellingShingle | A ROS Gazebo plugin design to simulate RFID systems Alajami, Abdussalam A. Gazebo Industry 40 Inventory KEONN Retail RFID plugin RFID technology Robotics ROS UAV |
| status_str | publishedVersion |
| title | A ROS Gazebo plugin design to simulate RFID systems |
| title_full | A ROS Gazebo plugin design to simulate RFID systems |
| title_fullStr | A ROS Gazebo plugin design to simulate RFID systems |
| title_full_unstemmed | A ROS Gazebo plugin design to simulate RFID systems |
| title_short | A ROS Gazebo plugin design to simulate RFID systems |
| title_sort | A ROS Gazebo plugin design to simulate RFID systems |
| topic | Gazebo Industry 40 Inventory KEONN Retail RFID plugin RFID technology Robotics ROS UAV |
| topic_facet | Gazebo Industry 40 Inventory KEONN Retail RFID plugin RFID technology Robotics ROS UAV |
| url | https://hdl.handle.net/10230/72437 http://dx.doi.org/10.1109/ACCESS.2022.3204122 http://hdl.handle.net/10230/72437 |