In this paper, an Embedded solution for fast navigation and precise positioning of mobile robots by floor features is introduced. Most of navigation systems tend to require high-performance computing unit and high quality sensor data. They can produce high accuracy navigation systems but have limited application due to their high cost. The introduced navigation system is designed to be a low cost solution for a wide range of applications such as toys, mobile service robots and education. The key design idea of the system is a simple localization approach using line features of the floor and delayed localization strategy using topological map. It differs from typical navigation approaches which usually use Simultaneous Localization and Mapping (SLAM) technique with high latency localization. This navigation system is implemented on single board Raspberry Pi B+ computer which has 1.4 GHz processor and Redone mobile robot which has maximum speed of 1.1 m/s.

Abstract
1. 서 론
2. 본 론
    2.1 자기 중심적 위상학 지도
    2.2 전역적 위치와 상대적인 자세 추론 방법
3. 실험 및 결과
4. 결 론
References

• 김용년(Intelligent Robot Engineering, Hanyang University) | Yong Nyeon Kim
• 서일홍(Electronics and Computer Engineering, Hanyang University) | Il Hong Suh Corresponding author