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

  • Handa Asahi
    Graduate School of Systems and Information Engineering, University of Tsukuba
  • Suzuki Azumi
    Graduate School of Systems and Information Engineering, University of Tsukuba
  • Date Hisashi
    Graduate School of Systems and Information Engineering, University of Tsukuba
  • Mitsudome Ryohsuke
    Graduate School of Systems and Information Engineering, University of Tsukuba
  • Tsubouchi Takashi
    Graduate School of Systems and Information Engineering, University of Tsukuba
  • Ohya Akihisa
    Graduate School of Systems and Information Engineering, University of Tsukuba

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Abstract

<p>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.</p>

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