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RFID BASED INDOOR NAVIGATION ASSISTANCE ROBOT FOR THE BLIND AND VISUALLY

Blind and visually impaired is a group of people who lose their eye sight. Consequently, there is a significant impact on their mobility directly. This paper proposed an efficient algorithm for mobile robot to navigate in indoor environment by using RFID system. Service robot with using this algorithm is able to aid this group of people in their indoor navigation. There is one RFID reader installed at the bottom chassis of the mobile robot to sense for passive RFID tag embedded under carpet on the floor. Each tag will retrieve a unique identification number when interrogated by appropriate frequency. By using the identification number, a database for coordinate positions of each tag on the map is established. Therefore, the position of the robot can be known in certainty in such environment. Besides, orientation and direction to reach goal location can be obtained by using three coordinate positions and trigonometry functions. The algorithm presents in this paper categorized different movements into four categories so that direction and turning angle can be obtained accurately. As a result, the robot is able to navigate to goal location with smooth and shorter path. Another advantage, obstacle avoidance is integrated into the navigation algorithm so that the robot can be implemented in a dynamic environment. In addition to that, a stick with rotary base and elastic rubber holder is built. Therefore, movements of user will leads to small impact on the robot while navigating. Furthermore, different destination can be chosen by user through the keypad attached. Sound indication is used to notify user on any dangerous encountered by the robot along the path.