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JRM Vol.35 No.6 pp. 1604-1614
doi: 10.20965/jrm.2023.p1604
(2023)

Paper:

Proposal for Navigation System Using Three-Dimensional Maps—Self-Localization Using a 3D Map and Slope Detection Using a 2D Laser Range Finder and 3D Map

Neng Chen, Shinichiro Suga, Masato Suzuki, Tomokazu Takahashi, Yasushi Mae, Yasuhiko Arai, and Seiji Aoyagi

Kansai University
3-3-35 Tamate-cho, Suita, Osaka 564-8680, Japan

Received:
February 28, 2023
Accepted:
August 16, 2023
Published:
December 20, 2023
Keywords:
ROS, robot localization, navigation system, 3D map, slope
Abstract

Many teams participating in robotic competitions achieve localization using a 2D map plotted using adaptive Monte Carlo localization, a robot operating system (ROS) open-source software program. However, outdoor environments often include nonlevel terrain such as slopes. In the indoor environment of multilevel structures, the data representing different levels overlap on the map. These factors can lead to localization failures. To resolve this problem, we develop a software by combining HDL localization, which is an ROS open-source software, with our own program, and use it to achieve localization based on a 3D map. Furthermore, the authors observe the erroneous recognition of a slope as a forward obstacle during a competition event. To resolve this, we propose a method to correct erroneous recognition of obstacles using a 2D laser range finder and 3D map and confirm its validity in an experiment carried out on a slope on a university campus.

Correct slopes misidentified as obstacles

Correct slopes misidentified as obstacles

Cite this article as:
N. Chen, S. Suga, M. Suzuki, T. Takahashi, Y. Mae, Y. Arai, and S. Aoyagi, “Proposal for Navigation System Using Three-Dimensional Maps—Self-Localization Using a 3D Map and Slope Detection Using a 2D Laser Range Finder and 3D Map,” J. Robot. Mechatron., Vol.35 No.6, pp. 1604-1614, 2023.
Data files:
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