Mobile Robot Navigation Utilizing the WEB Based Aerial Images Without Prior Teaching Run
Satoshi Muramatsu*, Tetsuo Tomizawa**, Shunsuke Kudoh***, and Takashi Suehiro***
4-1-1 Kitakaname, Hiratsuka, Kanagawa 259-1292, Japan
**National Defense Academy of Japan
1-10-20 Hashirimizu, Yokosuka, Kanagawa 239-8686, Japan
***The University of Electro-Communications
1-5-1 Choufugaoka, Choufu, Tokyo 182-8585, Japan
In order to realize the work of goods conveyance etc. by robot, localization of robot position is fundamental technology component. Map matching methods is one of the localization technique. In map matching method, usually, to create the map data for localization, we have to operate the robot and measure the environment (teaching run). This operation requires a lot of time and work. In recent years, due to improved Internet services, aerial image data is easily obtained from Google Maps etc. Therefore, we utilize the aerial images as a map data to for mobile robots localization and navigation without teaching run. In this paper, we proposed the robot localization and navigation technique using aerial images. We verified the proposed technique by the localization and autonomous running experiment.
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