Mobile Robot Navigation through Digital Landmarks

Localisation, the ability to find out the position, is essential to a mobile robot. The most common localisation method is to use a Kalman filter to fuse the data from dead reckoning data with the observations of environment features. The different artificial landmarks have been introduced to correct the error of dead reckoning, including visual landmark based methods. Since multiple landmarks are needed in a complex or large environment, the problem on how to distinguish multiple landmarks comes. This paper introduces the digit landmarks for recognition of a large number of artificial digital landmarks in the robot environment. Experimental results show the feasibility, extendibility, and large capacity of the proposed method.