RFID Gazebo-Based Simulator With RSSI and Phase Signals for UHF Tags Localization and Tracking

Radio Frequency Identification (RFID) technology is becoming very popular in the new era of Industry 4.0, especially for warehouse management, retails, and logistics. RFID systems can be used for objects identification, localization, and tracking, facilitating everyday operators' efforts. However, the deployment of RFID tags and reader antennas in real-world application scenarios is crucial and takes time. Indeed, deciding where to place tags and/or readers' requires examining many conditions. If some weaknesses appear in the design, the arrangement must be reconsidered. The proposed work presents a novel open-source RFID simulator that allows modeling environments and testing the deployment of RFID tags and antennas apriori. In such a way, validating the performance of the localization or tracking algorithms in simulation, possible weaknesses that could arise may be fixed before facilities are applied on the field. Any number of tags and antennas can be placed in any position in the created scenario, and the simulator provides the phase and the RSSI signals for each tag. Every reader antenna is parametrized so that different antennas of different vendors can be reproduced. The simulator is implemented as a plugin of Gazebo, a widely used robotic framework integrated with the Robot Operating System (ROS), to reach a broad audience. In order to validate the simulator, a warehouse scenario is modeled, and a tag localization algorithm that uses the phase unwrapping technique and hyperbolae intersection method employing a reader antenna mounted on a mobile robot is used to estimate the position of the tags deployed in the scenario. The outcomes of the experiments showed realistic results