1P1-J01 Autonomous Mobile Navigation System Development in Real World Robot Challenge 2012(3D Measurement/Sensor Fusion)

Abstract

In this paper, we propose an autonomous navigation system that do not need detailed preinformation. To achieve robust traversability, our system adopts following technologies. The system involves a localization with GPS and dead reckoning. We integrate it by using Divided Difference Filter (DDF). Additionally our system also estimates traversability of road regions using a laser range finder (LRF). Our local map is made in consideration of pedestrians by a moving obstacles detection. The effectiveness of the proposed system is proved through some experiments.