Mosaic based flexible navigation for AGVs

Highly flexible systems require that Automatic Guided Vehicles (AGVs) in a plant navigate autonomously and changes in their missions should not require difficult setup procedures. In this paper we address the problem of localization of a mobile robot in a indoor environment. The robot is able to find its position without any grounded wires, landmarks or laser beacons. The robot uses images acquired in the roof to compute its position and navigate between coordinates. The main contribution is the absence of external services to solve the AGV localization problem, allowing fast reconfiguration.