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This paper presents a practical topological navigation system for indoor mobile robots, making use of a novel artificial landmark which is called MR (Mobile Robot) code. This new kind of paper-made landmarks can be easily attached on the ceilings or on the walls. Localization algorithms for the two cases are given respectively. An approaching control algorithm and an extended line tracking algorithm are also described, which a robot employs to approach its current goal. A simple topological navigation algorithm is proposed. Experiment results show the effectiveness of the method in real environment.
Wen et al. (Sat,) studied this question.