We introduce our researches about mobile robot navigation in real world. We have about 30 self-contained and autonomous mobile robots as experimental research platforms who are named “Yamabico”. The objective of our research is to realize a mobile robot, which can robustly navigate itself a long distance autonomously in a real environment. For navigation, a robot must recognize work space and have enough knowledge about environment. Since the information processing, sensors and actuators of the robot are very different from ones of human, the suitable representation of knowledge or the recognition of environment for the robot are also quite different. In this paper, we report some experiments on the navigation of autonomous robot being done in Intelligent Robot Laboratory of University of Tsukuba.
