Topological navigation of mobile robot using ID tag and WEB camera

摘要

This paper presents a new navigation method using ID Tag and WEB camera. In this method, ID Tags are used as artifical landmarks, RF communication is used for absolute positioning of landmarks (nodes), WEB camera and ID Tags are used for relative positioning of mobile robot. Based on this localization method, a node ID representation method that contains connectivity information of nodes has been proposed. With this kind of node ID representation, a new topological map description has been introduced which contains only node IDS and direction angles. Furthermore, a path planning method using node 11) and pose adjustment method using direction angle and heading angle are also discussed. Navigation experiment showed that this kind of map description and path planning inethod are feasible for navigation of mobile robot in an indalor environment.