JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2011, Vol. 41 ›› Issue (1): 24-31.

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Robot navigation in a large scale environment based on distributed navigation information

TIAN Guo-hui, ZHANG Tao-tao*, WU Hao, XUE Ying-hua, ZHOU Feng-yu   

  1. School of Control Science and Engineering, Shandong University, Jinan 250061, China
  • Received:2010-05-25 Online:2011-02-16 Published:2010-05-25

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Abstract:

 A distributed navigation information acquisition mode (DNIAM) based on cognition theory was proposed for robot navigation in large scale semi-unknown environment. A new style of artificial landmark was designed adopting the two-dimensional bar code technology, and the methods to identify and read the artificial landmarks were simultaneously given. By placing relevant artificial landmarks on the critical positions, the robot navigation in the absolute large scale semi-unknown environment could  be divided into a global guide layer and a local search layer based on the distributed navigation information. The DNIAM makes robot navigation in large scale semi-unknown environment get rid of the restriction of the traditional mode of “map building-global locating-path planning”. The validity of this method was verified by experiments.

Key words:  two-dimensional bar code technology, artificial landmark, large scale semi-unknown environment, mobile robot, navigation

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