Abstract
This paper describes autonomous mobile robots navigation system and automatic large-scale 3D-map construction method. In previous works, most of them are using detailed map, which is created by operator in advance. Prior detailed map is a very effective tool to improve working efficiency, stability of the robot, but increasing the workload of operator is undesirable to generalize the robot in the real world. Furthermore, autonomous mobile robots have to function appropriately even in areas where they have never been before. Thus pre-driving details are not needed in our system. LIDAR is mainly used in our system, in creating local map, avoiding the moving object (Motion Planning), and recognizing own position (Localization) and environment around the robot (Environment Recognition). Moreover, we construct the detailed map automatically by using the autonomous robot driving data to improve accuracy of the navigation system without increasing the workload of operator. The availability of proposed method is confirmed by the experiments in Meiji University.
