Visual Navigation of an Indoor Mobile Robot Based on a Novel Artificial Landmark System

被引：0
|
作者：
Wen, Feng [1 ]
Yuan, Kui [1 ]
Zou, Wei [1 ]
Chai, Xiaojie [1 ]
Zheng, Rui [1 ]
机构：
[1] Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS | 2009年
关键词：
mobile robot; localization; navigation; artificial landmark; topological map;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：3775 / 3780
页数：6
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