Localization and navigation using QR code for mobile robot in indoor environment
文献类型：会议论文
| 作者 | Zhang, Huijuan; Zhang, Chengning; Yang, Wei; Chen, Chin-Yin |
| 出版日期 | 2015 |
| 会议日期 | DEC 06-09, 2015 |
| 英文摘要 | Localization and navigation are fundamental issues to mobile robotics. An approach for localization and navigation for a mobile robot in indoor environment is proposed in this paper. In this approach, QR codes are used as landmarks to provide global pose references. Label and location information is stored in QR codes which are strategically placed in the operating environment. The mobile robot is equipped with an industrial camera pointing to the ceiling to read QR codes at high speed. The pose of the robot is estimated according to the positional relationship between QR codes and the robot. For the purpose of collision-free navigation, a laser range finder (LRF) is applied to build a map in unknown environment and detect obstacles. Dijkstra algorithm and Dynamic Window Approach (DWA) are applied in path planning based on a 2D grid map. Experimental results show that this approach has good feasibility and effectiveness. |
| 学科主题 | Robotics |
| ISBN号 | 978-1-4673-9675-2 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23484]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Zhang, Huijuan,Zhang, Chengning,Yang, Wei,et al. Localization and navigation using QR code for mobile robot in indoor environment[C]. 见:. DEC 06-09, 2015. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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