Mobile robot navigation to GNSS receivable area after the failure of LiDAR-based self-localization

Abstract

We propose a recovery method using GNSS from the failure of LiDAR-based mobile robot self-localization. The method guides a robot to an area where the robot can receive GNSS information without self-localization. In the guide algorithm, a two dimensional LiDAR is used for finding the area. Through experiments, we confirmed that an actual robot in kidnapped states can receive GNSS information after navigation with our method and reset self-localization. This means our method contributes enhancing the robustness of outdoor mobile robot navigation.