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

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

3775

Lastpage

3780

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICMA.2009.5246177

Filename

5246177