Since QR codes can be read from a distance I'm going to expirement with QR code grid based location. I searched often for this on Google and found different theories some used only one or two Qr codes and then a complex algorithm calculated position based on the angle the camera views the Qr code. The testing may eventually use this but I want to follow the KISS rule since I'm so famous for over complicating things. I measured out my first floor already in inches and I will do so to the bedroom as well. I'm marking this as a tutorial since I will outline "how to" do this and we will expiriment to find what works best.
The floor layout marks the edges of the area the robot could access if there was no furniture. These are permenant factors for scripting. Next I will mark the semi permanent furniture like fishtank , couch , lamps , tv stand , end tables and fridge.
Bottom floor outer wall layouts.