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Navigation of a Mobile Robot Based on Metric Route Map at Places to Visit for the First Time
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- SUZUKI Azumi
- Tsukiba University
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- DATE Hisashi
- Tsukiba University
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- TSUBOUCHI Takashi
- Tsukiba University
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- OHYA Akihisa
- Tsukiba University
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- SHIGEMATSU Kosuke
- Tsukiba University
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- Ryohsuke MITSUDOME
- Tsukiba University
Bibliographic Information
- Other Title
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- 初めて訪れる場所における幾何学的に正確な経路情報に基づく移動ロボットのナビゲーション
Description
<p>In this paper, we propose a navigation system which guide a robot at a location visited for the first time without creating a map in advance. First, it estimates the position of the given path that exists on the local map by matching metric route information and the local map generated by SLAM, using particle filter. Then, a robot travels to the destination along the estimated route. From the performed experiment, the matching of the route information and the local map was confirmed.</p>
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2016 (0), 2A2-07a7-, 2016
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390282680909100672
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- NII Article ID
- 130007232225
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed