Abstract
The purpose of this research is a development of the autonomous navigation system on indoor environments. The robot has a simple map containing the route information. The map is consisted of the information on only the a distance between intersection,shape of the intersection,and the direction the robot has to turn. We made the experiments at the environment in the third floor of the third area of University of the Tsukuba. At this aria, nine buildings are connected by hall ways and the total area covered is of about 150x200 [m].
