American Journal of Applied Sciences

Vision-Based Real-Time Positioning and Autonomous Navigation System Using Mobile Robot in Indoor Environments

Diop Mamadou, Lim Chot Hun, Lim Tien Sze and Ong Lee Yeng

DOI : 10.3844/ajassp.2016.593.608

American Journal of Applied Sciences

Volume 13, Issue 5

Pages 593-608


Research toward unmanned mobile robot navigation has gained significant importance in the last decade due to its potential applications in the location-based services industry. The increase in construction of large space indoor buildings has made difficulty for humans to operate within such environments. In this study, a mobile robot's indoor navigation algorithm is developed with vision cameras. Using two monocular cameras (one looking forward and one looking downward), the developed algorithms make use of the salient features of the environments to estimate rotational and translational motions for real-time positioning of the mobile robot. At the same time, an algorithm based on artificial landmark recognition is developed. The artificial landmark is shaped arrow based signboards with different colors representing different paths. These algorithms are integrated into a designed framework for mobile robot real-time positioning and autonomous navigation. Experiments are performed to validate the designed system using the mobile robot PIONEER P3-AT. The developed algorithm was able to detect and extract artificial landmark information up to 3 m distance for the mobile robot guidance. Experiment results show an average error of 0.167 m deviation from the ideal path, signified the good ability and performance of the development autonomous navigation algorithm.


© 2016 Diop Mamadou, Lim Chot Hun, Lim Tien Sze and Ong Lee Yeng. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.