Navigation Based on Metric Route Information in Places Where the Mobile Robot Visits for the First Time
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- Handa Asahi
- Graduate School of Systems and Information Engineering, University of Tsukuba
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- Suzuki Azumi
- Graduate School of Systems and Information Engineering, University of Tsukuba
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- Date Hisashi
- Graduate School of Systems and Information Engineering, University of Tsukuba
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- Mitsudome Ryohsuke
- Graduate School of Systems and Information Engineering, University of Tsukuba
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- Tsubouchi Takashi
- Graduate School of Systems and Information Engineering, University of Tsukuba
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- Ohya Akihisa
- Graduate School of Systems and Information Engineering, University of Tsukuba
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説明
<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>
収録刊行物
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- Journal of Robotics and Mechatronics
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Journal of Robotics and Mechatronics 31 (2), 180-193, 2019-04-20
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詳細情報 詳細情報について
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- CRID
- 1390001288131582080
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- NII論文ID
- 130007635222
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- NII書誌ID
- AA10809998
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- ISSN
- 18838049
- 09153942
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- NDL書誌ID
- 029636239
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可