A navigation system for family indoor monitor mobile robot

Abstract

The navigation system of family indoor mobile robot includes localization, path planning, collision avoidance. The hybrid localization method of straight line matching, corner matching and odometry is proposed. The hardware and software configuration is introduced. Robot detects environment using a 2D laser range finder. Line feature extraction process including area divided, iterative end point fit (IEPF) and a least square technique is introduced. Based on line feature, straight lines and corners as geometry features are obtained. The odometry localization algorithm, straight line localization algorithm and corner localization algorithm are discussed. Artificial Potential Field (APF) based path planning algorithms is implemented. As a result stable localization is achieved with position and orientation resolution as 50mm, 5 degree. A good performance for the method is also achieved with cycle time as 120ms. Experiment shows the effectiveness of the hybrid localization method.