Table of Contents
Overview
Landmark Navigation
- Class Diagram
- Data Flow
- Solvers
Indoor Map Representation
Path Planning
Simulation and Results
References
Overview
Landmark Navigation
Landmarks are distinct features that a robot can recognize from its sensory input. Landmarks can be geometric shapes (e.g., rectangles, lines, circles), and they may include additional information (e.g., in the form of bar-codes). In general, landmarks have a fixed and known position, relative to which a robot can localize itself. Landmarks are carefully chosen to be easy to identify; for example, there must be sufficient contrast to the background. Before a robot can use landmarks for navigation, the characteristics of the landmarks must be known and stored in the robot's memory. The main task in localization is then to recognize the landmarks reliably and to calculate the robot's position.
In order to simplify the problem of landmark acquisition it is often assumed that the current robot position and orientation are known approximately, so that the robot only needs to look for landmarks in a limited area. For this reason good odometry accuracy is a prerequisite for successful landmark detection. The picture below shows the general procedure for performing landmark-based positioning.
