Path Planning with Topological Map built with ID Tag and WEB Camera

Abstract

This paper has proposed a novel method for path planning of mobile robot with topological map built with ID tag and Web camera. The map of indoor environment is expressed with node IDs and azimuth angles between any two of adjacent nodes. Node ID has a hierarchy data structure, which is embedded with global area information, local area information, attribution information and node level information. It is identified with a pair of ID tags, which is affixed to ceiling for distinct location, and the middle point indicates the absolute position of a node because of the unique ID of a tag. The definition and representation of node ID, the arrangement of nodes, the identification of sections, and the naming rule of adjacent nodes are introduced in this paper, also the methods of path planning in same section, different section on same floor and on different floor are illuminated. Finally, navigation and pose adjustment of mobile robot are demonstrated with an example. Experiment results showed us that path planning with ID tag and WEB camera is feasible for navigation in indoor environment