In this study, the concept of the chemical substance pheromone is utilized for the robotic tasks. This paperfirst illustrates the model of pheromone-based potential field. The field is constructed through theinteraction between mobile robots and data carriers, such as RFID tags. The emphasis in the modeling ofthe system is on the possibility of the practical implementable ideas. The stability analysis of thepheromone 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 theproper potential field, and has led to a new filter design scheme called pheromone filter, which satisfiesboth the stability and accuracy of the field. The unique structures of both the revised mobile robot and thedesigned filter show that the proposed method facilitates a more straightforward and practicalimplementation.
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