Title :
Visual navigation of an indoor mobile robot based on a novel artificial landmark system
Author :
Wen, Feng ; Yuan, Kui ; Zou, Wei ; Chai, Xiaojie ; Zheng, Rui
Author_Institution :
Inst. of Autom., Chinese Acad. of Sci., Beijing, China
Abstract :
This paper presents a practical topological navigation system for indoor mobile robots, making use of a novel artificial landmark which is called MR (Mobile Robot) code. This new kind of paper-made landmarks can be easily attached on the ceilings or on the walls. Localization algorithms for the two cases are given respectively. An approaching control algorithm and an extended line tracking algorithm are also described, which a robot employs to approach its current goal. A simple topological navigation algorithm is proposed. Experiment results show the effectiveness of the method in real environment.
Keywords :
mobile robots; navigation; path planning; robot vision; approaching control algorithm; artificial landmark system; extended line tracking algorithm; indoor mobile robot; localization algorithms; paper-made landmarks; topological navigation algorithm; topological navigation system; visual navigation; Cameras; Detection algorithms; Mobile robots; Navigation; Pattern recognition; Reflective binary codes; Robotics and automation; Robustness; Tiles; Uncertainty; artificial landmark; localization; mobile robot; navigation; topological map;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5246177
