2A2-F07 Image Processing based Navigation System on BeetleOne-08 on Streets

Abstract

In this paper, outdoor mobile robot "Beetle-One-08" and its system are introduced. Some sensors are installed on its sensor mast and body, for example, cameras, laser scanners and GPS. This robot system consists of navigation systems centering on GPS, and uses a camera and LRF as assistance of GPS data.As concrete assistance, it is an obstacle besides loss of the data of GPS, and assumption etc.Assistance is performed focusing on environment recognition with a camera. To keep reliability of measured data, sensor data are self-checked by using other data, and integrated to one environment map. Network and module type system architecture is applied on its hardware and software.