抄録
In this paper, we present MIL (Multi-Information Local) map which is available for efficient navigation of a mobile robot in a known environment. A MIL map is equipped with procedures for checking a self-location at critical points in the environment, such as corners or intersections. This map also has information about the movement style between each location check point, such as following a wall. A mobile robot can move to the destination efficiently because a robot can estimate its self-location at each location check point by only executing procedures written in a MIL map, and can move between location check points by obeying the movement style written in a MIL map. A MIL map is created interactively from stereo images taken at location check points before autonomous movement.
We have implemented a visual navigation system using a MIL map on a mobile robot. Experimental results have shown the usefulness of a MIL map.
