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http://dx.doi.org/10.5302/J.ICROS.2009.15.4.445

Mobile Robot Localization Based on Hexagon Distributed Repeated Color Patches in Large Indoor Area  

Chen, Hong-Xin (전북대학교 전자공학부)
Wang, Shi (전북대학교 전자공학부)
Han, Hoo-Sek (기초전력연구원)
Kim, Hyong-Suk (전북대학교 전자공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.15, no.4, 2009 , pp. 445-450 More about this Journal
Abstract
This paper presents a new mobile robot localization method for indoor robot navigation. The method uses hexagon distributed color-coded patches on the ceiling and a camera is installed on the robot facing the ceiling to recognize these patches. The proposed "cell-coded map", with the use of only seven different kinds of color-coded landmarks distributed in hexagonal way, helps reduce the complexity of the landmark structure and the error of landmark recognition. This technique is applicable for navigation in an unlimited size of indoor space. The structure of the landmarks and the recognition method are introduced. And 2 rigid rules are also used to ensure the correctness of the recognition. Experimental results prove that the method is useful.
Keywords
mobile robot navigation; localization system; color image processing; landmark; hexagon distribution;
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