Browse > Article
http://dx.doi.org/10.3795/KSME-A.2006.30.9.1124

Topological Mapping and Navigation in Indoor Environment with Invisible Barcode  

Huh, Jin-Wook (국방과학연구소)
Chung, Woong-Sik (마이크로로봇)
Chung, Wan-Kyun (포항공과대학교 기계공학과)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.30, no.9, 2006 , pp. 1124-1133 More about this Journal
Abstract
This paper addresses the localization and navigation problem using invisible two dimensional barcodes on the floor. Compared with other methods using natural/artificial landmark, the proposed localization method has great advantages in cost and appearance, since the location of the robot is perfectly known using the barcode information after the mapping is finished. We also propose a navigation algorithm which uses the topological structure. For the topological information, we define nodes and edges which are suitable for indoor navigation, especially for large area having multiple rooms, many walls and many static obstacles. The proposed algorithm also has an advantage that errors occurred in each node are mutually independent and can be compensated exactly after some navigation using barcode. Simulation and experimental results. were performed to verify the algorithm in the barcode environment, and the result showed an excellent performance. After mapping, it is also possible to solve the kidnapped case and generate paths using topological information.
Keywords
Invisible Barcode; Mobile Robot; Navigation; Topological Mapping;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Bosse M., Newman P., Leonard J., Soika M., Feiten W. and Teller S., 2003, 'An Atlas Framework for Scalable Mapping,' Proc. IEEE International Conference on Robotics and Automation, pp. 1899-1906
2 Victorino A. C. and Rives P., 2005, 'Global Consistency Mapping with an Hybrid Representation,' Proc. IEEE International Conference on Intelligent Robots and Systems, pp. 2403-2408
3 Madsen C. and Andersen C., 1998, 'Optimal Landmark Selection for Triangulation of Robot Position,' International Journal of Robotics and Autonomous Systems, Vol. 23, No. 4, pp.277-292   DOI   ScienceOn
4 Hern'andez S., J. Torres M., C. Morales A., and Acosta L., 2003, 'A New Low Cost System for Autonomous Robot Heading and Position Localization in a Closed Area,' Autonomous robots, Vol. 15, No. 2, pp. 99-110   DOI   ScienceOn
5 Enrique Gonzalez,Oscar Alvarez, Yul Diaz, Carlos Parra and Cesar Bustacara, 2005, 'BSA: A Complete Coverage Algorithm,' Proc. IEEE International Conference on Robotics and Automation, pp. 2052-2056
6 iRobot. Website. [Online]. Available: http://www.roombavac.com
7 Huang W. H., 2001, 'Optimal Line-sweep-based Decompositions for Coverage Algorithms,' Proc. IEEE International Conference on Robotics and Automation, pp. 27-32
8 Tomatis N., Nourbakhsh I., and Siegwart R., 2001, 'Simultaneous Localization and Map Building: A Global Topological Model with Local Metric Maps,' Proc. IEEE International Conference on Intelligent Robots and Systems, pp. 421-426
9 Dellaert F., Fox D., BurgardW. and S. Thrun, 1999, 'Monte Carlo Localization for Mobile Robots,' Proc. IEEE International Conference on Robotics and Automation, pp. 1322-1328
10 Gonz'alez-Banos H. H. and Latombe J.-C., 2002, 'Navigation Strategies for Exploring Indoor Environments,' International Journal of Robotics Research, Vol. 21, No. 10, pp. 829-848   DOI   ScienceOn
11 Electrolux. Website. [Online]. Available: http:// trilobite. electrolux.com/