This paper addresses the challenge of mobile robot navigation in indoor environments. There is a critical need for cost-effective, reliable, and fairly accurate solutions to meet the demands of indoor robotic applications. Currently, researchers are exploring various approaches for this problem. The one we are presenting in this paper is based on QR (Quick Response) codes to provide location references for mobile robots. The mobile robot is equipped with a Smartphone that is programmed to detect and read information on QR codes that are strategically placed in the operating environment of the robot. The mobile robot can perform the autonomous run throughout the guide route by using real-time QR code recognition. The lab information on QR code is played to the visitors using Text-to-Speech provided through Android device. Ultrasonic range sensors which can detect objects and measure distances with high accuracy are used to implement the wallfollowing and obstacle-avoidance behaviors. The collected sonar range information by ultrasonic range sensors is processed by a microcontroller that autonomously controls a tour guide robot. An algorithm based on a proportional-integral-derivative (PID) control is applied to the tour guide robot to perform more accurate robot motion control. A Bluetooth technology is used to send stored information on QR codes from the Smartphone to the tour guide robot wirelessly. The experimental setup of the tour guide robot along with the successful implementation of the efficient method for a navigation technique is presented.
This paper addresses effective artificial landmark based indoor localization technique for mobile robotics applications. In the proposed approach, QR-codes are strategically placed in the operating environment, attached to the ceiling; they are used as artificial landmarks for providing reference points to aid the robot localization. The vision processing, robot localization and navigation tasks are all carried out on an Android Smartphone mounted on the mobile robotic platform; by taking advantage of the computational power, the built-in sensing, and the communication capabilities of the Smartphone. The Smartphone detects and recognizes the QR-codes to calculate the approximate global location of the robot. The pixel coordinate information in the image of QR-code is also used to enhance the position estimate in the real-world environment. Furthermore, the QR-code orientation in the image view is used to calculate the mobile robot's heading direction. An NDI 3D optical tracking instrument is used for validation of the effectiveness and feasibility of the proposed method. This paper demonstrates successful implementation of the QR-code based localization strategy and the experimental evaluation of its performance in actual environment.
This paper presents an efficient approach for a vision based localization of multiple mobile robots in an indoor environment by using a low cost vision sensor. The proposed vision sensor system that uses a single camera mounted over the mobile robots field takes advantages of small size, low energy consumption, and high flexibility to play an important role in the field of robotics. The nRF24L01 RF transceiver is connected to the vision system to enable wireless communication with multiple devices through 6 different data pipes. The downward-facing camera provides excellent performance that has the ability to identify a number of objects based on color codes, which form colored landmarks that provide mobile robots with useful image information for localization in the image view, which is then transformed to real world coordinates. Experimental results are given to show that the proposed method can obtain good localization performance in multi-mobile robots setting.
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