Asked — Edited

Navigation Indoors

Many members have developed many types of navigation systems over the past few years. I would like to reach out to find what has worked out best. I am sure there are many types of designs. I would like to avoid complex third party add-ons, unless they are required.

My personal designs have not met my goals. I want to maybe get a new perspective based on other member's designs and ideas. I have made a similar request in the past, but with new sensors and meathods available, I wanted to see if there are new developments.

Can anyone Help?


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Thanks Richard, for the reminder.

I was wondering about possible new systems or ways to navigate. Dj had begun development on a system a couple of years ago which never progressed further. There was a few companies working on systems also. I know many members built systems too. I am looking for maybe a new way to go.

I am working on an idea using modulated ir signals to determine specific way points. It is based on the same idea as using gliphs. I am not sure if this is the right way to go.

Using a lidar and mapping is another way. Do I put the lidar on the robot or in the room?

I just wanted to know what is working for people, now. What is working for you currently?

My goal this fall is to begin to modify or build a new unit which will navigate through 3 rooms.

I'm looking for new or currently working ideas which are or will be dependable.


Hey , I don’t know if you saw it, but I started working on a project that was shelved until recently involving qr code / glyph recognition for navigating. Of course have tags all over the place may look horrible ,but I found ways to print clear tags with IR or UV invisible ink that the robot can read to determine position or all kind of other cue codes as well! If your interested I’ll tell you more. I need to copy over some stuff onto the original ez robot thread but I have been more active on hackaday because I’m getting money that way through the challenges at the moment.

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Hi Jay,

I wasn't aware you went further with the project. I would like to take a look at your information if you are willing to post it, or if I should just go to GitHub? I have also been wondering if there is anything new in navigation systems? I know this is a major step for a home robot that can really do something. Facial recognition, speech recognition, ai conversation and other functional programs get a home robot close to real. Navigation is the last piece. By the way, how is you security robot working? And did you ever finish the mower? I am trying to get a project ready for the New England winter. The home navigation would be a nice project. My final goal is to build a full robot using Antonn's systems with navigation. (Olivia) Thanks for the reply. Ron


Yes I did get the mower going, no it is not autonomous because outdoors is a different monster than indoors, I would like to make a smaller mower for autonomous use.

I posted the link to the ongoing progress, I will make a effort to start updating the thread here ,but there has been a bit of progress since then.

Basically to do my method you will need to print qr codes with special ink and use them like stickers to identify areas and points of navigation in your home, even on the ceiling works.


Sounds good! I will take a look at the listed stuff. I assume I can start playing by using normal printed glyphs.


Sure can , do development with regular printed codes and switch to invisible when you like how it is working. I may actually sell printed invisible stickers since the investment for a printer dedicated for Robot navigation tags is prohibitive for some builders


@jsrarne1 Hi Jay What is your thought about using a modulated ir signal (type of signal from a TV remote, for example. The signal generated could be a number) instead of the glyph? The signal would be a focused beam, not open, which would flood the room. (Requires maybe Arduino to decode then sent to the ezb) Maybe it would work?

I didn't get to Gitub yet, but will when work slows down.



What is your thought about using a modulated ir signal (type of signal from a TV remote, for example. The signal generated could be a number) instead of the glyph? The signal would be a focused beam, not open, which would flood the room. (Requires maybe Arduino to decode then sent to the ezb) Maybe it would work?

I think you are correct that you would need to decode with Arduino. I had discussed something similar couple of years ago to have some way for the bot to automatically follow me and DJ at the time indicated the camera/EZ-B/WiFi would not be a good solution for reading the signal because it would potentially miss the pattern of flashes that would make the beacon unique.

But using something that can read IR and then just populate a variable that ARC could read through any number of different integration methods that already exist might be a good solution for this.



Hi Alan, Yeah, I was thinking about using the concept of the line follow idea. The receive would read the number a camera would see the beam? I don't think the pulsing of the beam would be an issue. Maybe later tonight I will see if an ezb camera would see the beam from a TV remote. A stationary sender would repeat enough times to allow the camera enough time to pick up the signal. Thanks for the reply.


I finally had a chance to confirm the ez robot camera sees the ir signal from my TV remote. I was only able to "see" dimly, about 10 feet. I will be looking around for a toy or try to find some lenses to make a "beam" which I will try to use as a target to use for tracking and also decode as a descripted signal. I am still busy but hope to get to test soon.


Is anyone aware of any (focused beam) device easily available which can be converted to what I want to do? I know some photoelectric detectors could maybe work, but I don't want to spend big dollars for testing. Any suggestions ?


You will likely want to remove the filter from the camera or use a different camera to see IR well.


Hi Jay Have you ever tried what I am suggestioning? I know you messed a lot with ir stuff.


I can confirm that you can remove the IR filter from the EZ-B camera but be aware of 2 things:

  • The IR filter resides directly behind the camera lens and is glued in place
  • The IR filter is made of glass (looks like a rainbow when viewed a certain angles)

In the past I've used need-nose pliers to squeeze the plastic a bit to break the glue from the glass but there have been times where I've shattered the glass filter. Please take the necessary precautions when attempting to remove the IR filter, use safety glasses and do the work above a small container to catch the glass.