Abstract
Autonomous mobile robots have been required for many service robot systems. In many studies, it is necessary to prepare metrical maps before autonomous navigation of the robots. Although such metrical maps can be generally built by moving the robots and collecting sensor data of fields, it is takes much time to build accurate maps. In this study, mobile robot navigation with topological maps is considered. Especially, we propose a link estimation method while running of a mobile robot on a topological map, using map matching technique utilized for car navigation systems mainly. In this paper, we explain link estimation method and experiments with an actual robot based on proposed method.
