Abstract
This thesis proposes a system called routing-table-based navigation systemwhich provides a low-cost and flexible solution for robot applications. The navigationsystem uses RF devices called information nodes (i-nodes) to label critical locationssuch as corridors, intersections, corners and so on in the environment and guide therobot with navigation instruction. A use scenario describes a possible way to use thenavigation system. The thesis proposes two designs: Distributed Navigation System(DNS) and Local Navigation System (LNS) to suit different applications. Weimplement a DNS prototype which simulates i-nodes with RFID tags and a serverprogram. We use an open-sourced API to control the robot platform. The thesisanalyzes the real time requirement of navigation instruction execution. The deadline isdecided by the speed of robot, the radius of i-node RF range and the radius of a turnof robot.