Abstract
We are developing a mobility-support robot "ROPITS" traveling on pedestrian road autonomously to realize a next generation short-distance transportation system in compact-cities. In order to raise the level of autonomous navigating technologies to a practical use, we have made various experiments of autonomous running on the public pedestrian road in the Mobility Robot Experiment Special District in Tsukuba-city, Ibaraki prefecture. We found some places of this district having large position errors, caused by map-matching failures. Therefore, we introduce the recovery method. In this paper, we show the validity of our proposal method and comparison with existing technique.
