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JRM Vol.31 No.2 pp. 180-193
doi: 10.20965/jrm.2019.p0180
(2019)

Paper:

Navigation Based on Metric Route Information in Places Where the Mobile Robot Visits for the First Time

Asahi Handa, Azumi Suzuki, Hisashi Date, Ryohsuke Mitsudome, Takashi Tsubouchi, and Akihisa Ohya

Graduate School of Systems and Information Engineering, University of Tsukuba
1-1-1 Tennodai Tsukuba-shi, Ibaraki 305-8573, Japan

Received:
November 1, 2018
Accepted:
March 6, 2019
Published:
April 20, 2019
Keywords:
mobile robot, route information, navigation, traversability analysis
Abstract
Navigation Based on Metric Route Information in Places Where the Mobile Robot Visits for the First Time

Navigation based on metric route information

In this study, we propose a navigation system that guides a robot at a location visited for the first time, without developing a map in advance. First, it estimates the position of a path that exists on the local map by matching the metric route information and the local map generated by simultaneous localization and mapping (SLAM); this is achieved by using a particle filter. Then, the robot travels to the destination along the estimated route. In this system, the geometric accuracy of the route information specified in advance and the accuracy of the map generated by SLAM are essential. Furthermore, it is necessary to recognize the traversable area. The experiment performed verifies the matching of the route information and local map. In the autonomous running experiment, we conduct a trial run on a course set up at the University of Tsukuba.

Cite this article as:
A. Handa, A. Suzuki, H. Date, R. Mitsudome, T. Tsubouchi, and A. Ohya, “Navigation Based on Metric Route Information in Places Where the Mobile Robot Visits for the First Time,” J. Robot. Mechatron., Vol.31, No.2, pp. 180-193, 2019.
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Last updated on May. 22, 2019