幾何学的に正確な経路情報と走路認識に基づく自律移動ロボットのナビゲーション

抄録

This paper describes a study on navigation of an autonomous mobile robot based on metric route information generated from aerial photographs and traversability recognition. Many studies on navigation assume accurate localization. However, navigation using only aerial photographs etc. as prior information causes uncertainty in position estimation. In this study, we take up the problem of traveling on unintended route in the situation where the position estimation of the autonomous mobile robot has uncertainty, and aim at improvement by the navigation system. The proposed method consists of the traversability recognition of the promenade environment, the road boundary detection, and the navigation according to rule of the road.