Indoor localization of transport vehicle using RSSI constraints and UHF transponders installed on planar floor

In this paper, we have proposed a novel localization algorithm for small size transport vehicle with the Short Range of the UHF RFID technology and the wheels odometry that are fused by Sequential Importance Resampling Particle Filter(SIR PF) Instead of the HF RFID because HF RFID have a problem that is a limitation of the moving speed of the mobile robots, so to solve the such problem we used for Received Signal Strength Indication (RSSI) of the UHF RFID reader. also we show the result through the experiments