Navigation method using fuzzy line tracking for the transportation robot

In the paper, we propose a navigation method using fuzzy line tracking and D*Lite algorithm based on a QR code map. Path planning using D*Lite is implemented on the server. Fuzzy line tracking is developed by using image processing technique. At first, we design a virtual map which is composed of QR code nodes. We generate an optimized path for navigation on the map. Accuracy of the navigation is enhanced by fuzzy line tracking method. The proposed method is verified by simulation study as well as experiment on a real environment.