Navigation of a Mobile Robot Based on Metric Route Map at Places to Visit for the First Time

Abstract

In this paper, we propose a navigation system which guide a robot at a location visited for the first time without creating a map in advance. First, it estimates the position of the given path that exists on the local map by matching metric route information and the local map generated by SLAM, using particle filter. Then, a robot travels to the destination along the estimated route. From the performed experiment, the matching of the route information and the local map was confirmed.