Abstract
This paper describes development and consideration of autonomous navigation based on tracking waypoints without the environmental information such as an accurate geometry map for a mobile robot. The waypoints consist of positions which are measured by the DGPS. It is known that some positions by DGPS are rough. Therefore, a free space extraction is necessary for stable navigation. The robot detects free space on the own front by a LRF, and autonomously tracks the waypoints. However, the robot sometimes encounters a complicated situation in which there are unknown obstacles or pedestrians in the actual environment, and misses the correct path. Therefore, a recovery behavior is necessary for achieving autonomous navigation. In Tsukuba Challenge 2010, although it was almost completed that the robot autonomously navigates to the goal, failures such as course out were sometimes occurred. The reason of every situation of the course out was verified by experiments in which the robot moves from wide space to narrow space. In this paper, performance of the waypoints tracking based navigation and its consideration in cases of complete and retired navigaitions in the experiments are shown.
