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 attache...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.展开更多
基金supported by the National High Technology Research and Development Programme of China(No.2006AA04Z2422006AA04Z258)the National Natural Science Foundation of China(No.60705026)and CASIA Innovation Fund For Young Scientists
文摘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.
