One simple approach to developing a topological path-planning robot is to place ceiling-mounted planar targets at critical locations in the environment. These markers become nodes in the graph, and...

One simple approach to developing a topological path-planning robot is to place ceiling-mounted planar targets at critical locations in the environment. These markers become nodes in the graph, and edges are constructed between when the robot can move between them in a straight line. Orientation information can be obtained either via some external mechanism (e.g., a compass) or through marking the visible targets to provide local orientation information. Build a navigation system based on this approach for your environment.