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진홍신,김형석,왕실,서범수 제어로봇시스템학회 2008 제어로봇시스템학회 합동학술대회 논문집 Vol.2008 No.12
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 icell-coded mapi, 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.