Low Cost Indoor Navigation System For Autonomous Vehicle

This paper presents low cost navigation system for autonomous vehicles, that navigate indoor in known environment. The navigation bases on estimated change of vehicle's position due to given command and is updated by means of recognition of imagines taken by onboard camera. The position calculation bases on finding on the image the relative distances, from camera's point of view, between the light landmarks, that have known position in reference environment. Entire system has been integrated under Microsoft Windows XP and Linux environment to make possible future application of PC104 as the controller.