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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.
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 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. Experimental results show the effectiveness of themethod in real environment.