抄録
The aim of our research is to develop the navigation system of the outdoor autonomous mobile robot which only determine way points without the map matching. As the first step, we proposed the attitude control of the outdoor autonomous mobile robot using the center of gravity of the quadrangle that was constructed from 4 feature points in camera frame. This center of gravity stays at the same position if the mobile robot is moving straight. On the other hand, the center of gravity varies in proportion to the movement in the horizontal direction of the mobile robot. We demonstrated that the outdoor autonomous mobile robot equipped with this attitude control was able to move straight between way points.
