One of the main goals of a household robot is to navigate in an environment in a safe way. Some prior work has addressed this assumption by using dead reckoning in combination with reactive behaviours to interact with unknown dynamic environment. This paper presents a mobile robot navigation system that uses a topological landmark based representation of the environment from which it is possible to find paths using the Dijkstra algorithm. In this way the robot is able to achieve its goal while avoiding obstacles using a reactive navigation approach based on the coordination of state machines.
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