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

摘要

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.