A corridors lights based navigation system including path definition using a topologically corrected map for indoor mobile robots

Fabien Launay, Akihisa Ohya, Shin'ichi Yuta

Research output: Contribution to journalConference article

14 Citations (Scopus)


This paper proposes an indoor navigation system for an autonomous mobile robot including the teaching of its environment. The self-localization of the vehicle is done by detecting the pose of corridors fluorescent tubes with a camera pointing to the ceiling. A map of the lights based on odometry and used later for navigation tasks is first built by remote controlling the robot. The map distortion due to positioning errors is corrected to facilitate route definition by detecting and closing open cycles extremities. Paths defined on the modified map whose geometry differs from the robot one are then converted automatically into the robot map so that the robot can refer to it and cancel odometry errors during navigation.

Original languageEnglish
Pages (from-to)3918-3923
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2002 Jan 1
Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
Duration: 2002 May 112002 May 15


ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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