Localization and navigation using QR code for mobile robot in indoor environment

摘要

Localization and navigation are fundamental issues to mobile robotics. An approach for localization and navigation for a mobile robot in indoor environment is proposed in this paper. In this approach, QR codes are used as landmarks to provide global pose references. Label and location information is stored in QR codes which are strategically placed in the operating environment. The mobile robot is equipped with an industrial camera pointing to the ceiling to read QR codes at high speed. The pose of the robot is estimated according to the positional relationship between QR codes and the robot. For the purpose of collision-free navigation, a laser range finder (LRF) is applied to build a map in unknown environment and detect obstacles. Dijkstra algorithm and Dynamic Window Approach (DWA) are applied in path planning based on a 2D grid map. Experimental results show that this approach has good feasibility and effectiveness.