Localization and navigation using a novel artificial landmark for indoor mobile robots  

作　　者：温丰 

机构地区：[1]Institute of Automation,Chinese Academy of Sciences

出　　处：《High Technology Letters》2009年第3期233-238,共6页高技术通讯（英文版）

基　　金：supported by the National High Technology Research and Development Programme of China(No.2006AA04Z242;2006AA04Z258);the National Natural Science Foundation of China(No.60705026)and CASIA Innovation Fund For Young Scientists

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 code. This new kind of paper-made landmarks earl be easi- ly attached on the ceilings or on the walls, lmealization algorithms for the two cases are given respective- ly. 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.This paper presents a practical topological navigation system for indoor mobile robots,making use ofa novel artificial landmark which is called MR code.This new kind of paper-made landmarks can be easi-ly attached on the ceilings or on the walls.Localization algorithms for the two cases are given respective-ly.A docking control algorithm is also described,which a robot employs to approach its current goal .Asimple topological navigation algorithm is proposed.Experiment results show the effectiveness of themethod in real environment.

关 键 词：mobile robot LOCALIZATION NAVIGATION artificial landmark topological map 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] V249.32[自动化与计算机技术—控制科学与工程]