yandprocessingspeedrequirementsthatmakeitsimplementationpossibleonarobotwithlimitedimage-processinghardware.Moreover,ournavigationsystemincludesalandmarksmapconstructionprocessentirelybasedontherobot’sodometrydata.ThedevelopmentofaGUIenablestheconnectionbetweenthelightsmapproducedduringtheteachingprocess,andtheautonomousrobotnavigation,whichresultsinacompletenavigationsystem.Thisisthemaindifferencewiththepreviousworkswhicheitherassumetheknowledgeoftheceilinglandmarks’exactposethankstoCADdataofbuildingmaps,orrequiretheabsolutevehicleposetobeenteredmanuallyandperiodicallyduringthelandmarksmapconstructionsoastocancelodometryerrors.Figure:Targetenvironmentconsistingoflightsofdifferentshapesincorridorsexposedtoluminosityvariationsduetosunning.Lights’mapbuildingInordertocancelodometryerrorswheneveralightisdetected,ther地图,由于图形用户界面来处理错误包括在学习程序。
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