Mobile Robot Decision-Making Based on Offline Simulation for Navigation over Uneven Terrain
Yuichi Kobayashi*, Masato Kondo**, Yuji Hiramatsu**, Hokuto Fujii**, and Tsuyoshi Kamiya**
3-5-1 Johoku, Naka-ku, Hamamatsu, Shizuoka 432-8561, Japan
**Yamaha Motors Co., Ltd.
2500 Shingai, Iwata, Shizuoka 438-8501, Japan
This paper presents an action decision framework for an autonomous mobile robot or an unmanned ground vehicle (UGV) to navigate an unknown environment. It is difficult for a UGV without global map information to decide which path to travel when it comes to a fork. However, locally observed terrain features can enable the UGV if it can utilize its past experience. The proposed path selection method utilizes correlations between features of the local terrain obtained by its laser range finder and the values of paths obtained through offline simulation using global path planning. During navigation, the UGV estimates the values of each path at a fork based on the correlation between the terrain feature and the value. It was confirmed that the proposed method allows the selection of paths that are more effective compared with a simple path selection strategy with which the UGV selects the closer path to the goal. The proposed method was evaluated in both a simulated environment and a real outdoor environment.
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