Path Planning Based on Ceiling Light Landmarks for a Mobile Robot

This paper presents the path planning based on ceiling light landmarks for a mobile robot. The novel mechanism design for the mobile robot is introduced, and the method of self-localization using ceiling light is described. Navigation map, weight matrix and the method to find shortest path are proposed. From the path planning, the control scheme of autonomous navigation for the mobile robot can be generated automatically. Navigational experiments indicate the effectiveness of the method presented in the paper.