Stable Filtering for Artificial Pheromone Potential Field Constructed by Mobile Robots and Passive RFID Tags

In this study, the concept of the chemical substance pheromone is utilized for the robotic tasks. This paper first illustrates the model of pheromone-based potential field. The field is constructed through the interaction between mobile robots and data carriers, such as RFID tags. The emphasis in the modeling of the system is on the possibility of the practical implementable ideas. The stability analysis of the pheromone potential field is carried out also aiming at the implementation on a real robotic environment. The comprehensive analysis on stability provides the criteria for how the parameters are to be set for the proper potential field, and has led to a new filter design scheme called pheromone filter, which satisfies both the stability and accuracy of the field. The unique structures of both the revised mobile robot and the designed filter show that the proposed method facilitates a more straightforward and practical implementation.