Localization and navigation using a novel artificial landmark for indoor mobile robots
Feng Wen, Kui Yuan, Rui Zheng · 2009
This paper presents a practical topological navigation system for indoor mobile robots, making use of a novel artificial landmark which is called MR 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. A docking control algorithm is 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.