Automated Indoor RFID Inventorying using a Self-Guided Micro-Aerial Vehicle

Authors

Steven A. Parkison, University of Nebraska-LincolnFollow
Eric T. Psota, University of Nebraska-LincolnFollow
Lance C. Pérez, University of Nebraska-LincolnFollow

Document Type

Article

Date of this Version

2014

Citation

Energy Conversion Congress and Exposition (ECCE), 2013 IEEE Year: 2013

Comments

©2014 IEEE

Abstract

A Micro-Aerial Vehicle (MAV) system is presented for automated indoor inventorying using passive radio frequency identification (RFID). This system utilizes a combination of onboard sensing and processing in order to achieve flight stabilization, generate floor maps, and perform path planning. The proposed state estimation method along with a control feedback strategy are demonstrated to be sufficiently accurate for operation in the indoor environment and the proposed path planning technique is shown to be effective for guiding the MAV while it performs automated RFID scanning.