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.
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
