抄録
Following waypoints type autonomous mobile robots run basically gaining self-location and toward each next waypoint in sequence. The useful techniques of self-localization and approach to waypoint are required to move automatically. For determining appropriately whether or not a robot reaches a waypoint, a framework for deciding it and approaching the waypoint near enough, which can work in various situation (e.g. in the environment there are some obstacles) is necessary. This paper proposes an approach of following set waypoints for autonomous navigation. In addition, the results of demonstration experiments are also reported and are considered in terms of gyrodometry and obstacle avoidance.
