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JRM Vol.17 No.3 pp. 262-268
doi: 10.20965/jrm.2005.p0262
(2005)

Paper:

Navigation Using Local Landmarks in a Corridor Environment

Kazumi Oikawa*, Hidenori Takauji**, Takanori Emaru***,
Shigenori Okubo*, and Takeshi Tsuchiya****

*Yamagata University, 4-3-16 Jonan, Yonezawa, Yamagata 992-8510, Japan

**Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo, Hokkaido 060-0814, Japan

***University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan

****Hokkaido Institute of Technology, 7-15-4-1 Maeda, Teine-ku, Sapporo, Hokkaido 006-8585, Japan

Received:
October 18, 2004
Accepted:
April 11, 2005
Published:
June 20, 2005
Keywords:
navigation, local landmark, topological map, autonomous mobile robot, behavior-based robot
Abstract

We propose a robot navigation using local landmarks and topological maps to make robots easy to use. To popularize the use of robots in the home and welfare institutions, robots must be easy for anyone to use. Conventional robots are generally expensive to implement due to extensive preparation such as providing maps with Cartesian coordinates and setting precise environmental landmarks called “setup costs [1].” For robots to navigate precisely, they must measure locations precisely, which may require sensors with high precision and sophisticated computing, e.g., to compensate for accumulated error caused by wheel slippage. Approaches without position coordinate make difficult, but we solve the problem using a user-friendly robot with inaccurate sensors and unsophisticated computing – “human” approach.

Cite this article as:
Kazumi Oikawa, Hidenori Takauji, Takanori Emaru,
Shigenori Okubo, and Takeshi Tsuchiya, “Navigation Using Local Landmarks in a Corridor Environment,” J. Robot. Mechatron., Vol.17, No.3, pp. 262-268, 2005.
Data files:
References
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