Integrated Autonomous Navigation System and Automatic Large Scale Three Dimensional Map Construction
Yusuke Fujino, Kentaro Kiuchi, Shogo Shimizu, Takayuki Yokota, and Yoji Kuroda
Department of Mechanical Engineering, Meiji University
1-1-1 Higashimita, Tama-ku, Kawasaki 214-8571, Japan
The method we propose for constructing a large three-dimensional (3D) map uses an autonomous mobile robot whose navigation system enables the map to be constructed. Maps are vital to autonomous navigation, but constructing and updating them while ensuring that they are accurate is challenging because the navigation system usually requires accurate maps. We propose a navigation system that explores areas not explored before. The proposed system mainly uses LIDARs for determining its own position – a process known as localization – or the environment around the robot – a process known as environment recognition – for creating local maps and for avoiding mobile objects – a process known as motion planning. We constructed a detailed 3D map automatically using autonomous driving data to improve navigation accuracy without increasing the operator’s workload, confirming the feasibility of the proposed method through experiments.
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