Mobile robot navigation based on artificial landmarks with machine vision system

Dmitriy Aleksandrovich Yudin, Grigoriy Gennadievich Postolsky, Alexander Stepanovich Kizhuk, Valeriy Zalmanovich Magergut

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


The paper describes machine vision system (MVS) developed by authors, which identifies artificial landmarks on images from a video camera with pan-tilt mechanism and allows to calculate the deviation of the robot from the set course. Lines limiting robot track and tags in the form of two-dimensional barcodes were selected as artificial landmarks. Designed MVS is a hardware-software complex, which includes one camera with pan-tilt mechanism and onboard computer, which implemented the software that allows to search for artificial landmarks in the environment and to identify them at the image. Also authors developed a special software provides control of the drive wheels of the robot in order to eliminate the course deviation calculated on the basis of information about artificial landmarks. The paper shows that the proposed machine vision system for mobile robot navigation is economical, have acceptable performance and can be applied in the real-time control systems for warehouse automated guided vehicles, service robots, security robots, mobile robots operating in hostile and dangerous to human health environments.

Original languageEnglish
Pages (from-to)1467-1472
Number of pages6
JournalWorld Applied Sciences Journal
Issue number11
Publication statusPublished - 2013
Externally publishedYes


  • Artificial landmark
  • Bar code
  • Image recognition
  • Mobile robot
  • Navigation Machine vision system
  • Software


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