To address the challenges of dynamic coupling interference and time-frequency feature degradation in current approaches to Ultra-High-Frequency Radio-Frequency Identification (UHF RFID) behavior recognition, this study proposes a novel behavior recognition method integrating multi-feature analysis with a dual-path residual network. The proposed method mitigates interference by using phase difference methods to eliminate signal errors and cross-correlation, as well as adaptive equalization algorithms to decouple interfering signals. To identify the target tags participating in behavioral interactions, we construct a three-dimensional feature space and apply an improved weighted isolated forest algorithm to detect active tags during interactions. Subsequently, Doppler shift analysis extracts behavioral features, and multiscale wavelet-packet decomposition generates time-frequency representations. The dual-path residual network then fuses global and local features from these time-frequency representations for behavioral classification, thereby identifying interaction behaviors such as ‘taking away’, ‘putting back’, and ‘hesitation’ (characterized by picking up, then putting back). Experimental results demonstrate that the proposed scheme achieves behavioral recognition accuracy of 94% in complex scenarios, significantly enhancing the overall robustness of interaction behavior recognition.

In automated warehousing scenarios, mobile UHF RFID robots typically operate along preset fixed paths to collect basic information from goods tags. They lack the ability to perceive shelf layouts and goods distribution, leading to problems such as missing reads and low inventory efficiency. To address this issue, this paper proposes a cross-layer sensing method for mobile UHF RFID robot reading states based on multiple linear regression-orthogonal least squares (MLR-OLS) and random forest. For shelf state sensing, a position sensing model is constructed based on the physical layer, and MLR-OLS is used to estimate shelf positions and interaction time. For good state sensing, combining physical layer and MAC layer features, a K-means-based tag density classification method and a missing tag count estimation algorithm based on frame states and random forest are proposed to realize the estimation of goods distribution and the number of missing goods. On this basis, according to the read state sensing results, this paper further proposes an adaptive reading strategy for RFID robots to perform targeted reading on missing goods. Experimental results show that when the robot is moving at medium and low speeds, the proposed method can achieve centimeter-level shelf positioning accuracy and exhibit high reliability in goods distribution sensing and missing goods count estimation, and the adaptive reading strategy can significantly improve the goods read rate. This paper realizes cross-layer sensing and read optimization of the RFID robot system, providing a theoretical basis and technical route for the application of mobile UHF RFID robot systems.