Mobile Robot Navigation Using Artificial Landmarks.

摘要

In this paper, we discuss how to navigate a mobile robot along any paths in a certain environment. We realize it by supporting self-positioning ability of the robot using artificial landmarks. We propose a method to dispose artificial landmarks in the environment, and to navigate a mobile robot there. We dispose the landmarks so that the robot can observe at least one landmark at any positions in its working area. We consider the requirement for observing a landmark, and the robot plans the observation so that the requirement is fulfilled at all times. Through the navigation experiment using a real robot, the effectiveness of the proposed method is confirmed.