Effective Navigation of a Mobile Robot Using Guide-Marks Sensed through Vision

사각장치에 의해 감지된 가이드 마크를 이용한 이동 로보트의 효과적인 항법

The navigation problem for a mobile robot is investigated. Specifically, it is proposed that simple guide-marks be introduced and the navigation scheme be generated in conjunction with the guide-marks sensed through camera vision. For autonomous navigation, it was shown that a triple guide-mark system is more effective than a single guide-mark in estimating the position and orientation of mobile robot itself. The navigation system is tested via a mobile robot HERO-I equipped with a single camera in laboratory environment.