Efficient robot navigation for semi-structured indoor storehouse

Abstract

This paper proposes an augmented transition network (ATN) based algorithm to deal with storehouse robot navigation. At first, two operations of edge detection and binarization of original image are employed. The lane line equations are evaluated by scanning the lane line pixels through augmented transition network (ATN) algorithm in the binary image. Then the angle offset and horizontal distance offset of robot can be calculated from the lane line equations and the art of geometry. Finally an expert control algorithm is used to control robot navigating according to the angle offset and horizontal distance offset. Experimental results show substantial improvement in efficiency and reliability with this algorithm. In addition, the runtime can satisfy the requirement of realtime navigation while the performance is significant enhanced.