Efficient localization in warehouse logistics: a comparison of LMS approaches for 3D multilateration of passive UHF RFID tags

Abstract The Fourth Industrial Revolution, or Industry 4.0, aims at automating traditional manufacturing and industrial practices using modern smart technology. Autonomous mobile robots equipped with different sensors employing techniques have been proposed in the literature logistics inventory warehouse management contexts. Efficient robot motion planning depend on precise localization, mapping, awareness of environment. To properly localize items, recent attempts made radio frequency identification (RFID) a 3D This manuscript introduces four least mean squares methods to estimate positions tags synthetic apertures phase unwrapping. approach localization problem solving system equations typical multilateration find intersections multiple hyperboloids. novelty introduced here is use unwrapped distances compute pseudo ranges for problem. such technique feasible thanks custom navigation policies. All analyzed are suitable online due reduced computation timings tested three datasets. Two them contain virtual data that has generated by simulation, while other one comes from an indoor experimental setup. Simulated tests show combined antenna motions space (including Z -axis) improve obtaining errors under centimeter localization. Experimental obtained results as low 13 cm accuracy 0.21 2D