Fiducial Marker Navigation for Mobile Robots

Regarding mobile robots, navigation using fiducial markers has already been achieved and obstacle avoidance using search algorithms is common. However, the combination of these two ideas is relatively uncommon, and therefore, is the focus of this study. Owing to the mobility of these robots, good performance of the system is of utmost importance. Furthermore, since odometers on mobile robots are often innaccurate, and since other means of localization can prove complex and thus reduce performance, this system does not rely on previous map information. The relevant options available for the creation of this hybrid system are investigated, and an efficient system, capable of meeting its objectives, is designed and implemented on the WifibotLab LIDAR mobile robot. Under testing, the system showed good performance and proved accurate in terms of marker detection and the routes determined. Although various complicated scenarios were not feasible, the system was usable in practical scenarios, and therefore viable for integration and use on other similarly equipped mobile robots.