Abstract
This paper describes an implementation of mobile robot waypoint navigation system which is compliant to Intelligent Ground Vehicle Competition (IGVC) navigation challenge rules. The IGVC is one of mobile robot competition that has been sponsored by AUVSI (Association for Unmanned Vehicle Systems International) since 1993. Navigation challenge is one of the IGVC challenges that assume to use GPS navigation system. Several waypoints are assigned by longitude and altitude coordinate system as global waypoint map. Based on global waypoint map, the proposed waypoint navigation system incrementally builds both an accurate global trajectory map and global obstacle map by using complex extended Kalman filter. The feature of proposed implementation is employing simple map management algorithm and self-localization and landmark data association. To confirm the validity of proposed waypoint navigation system, an electric wheelchair based mobile robot is used for implementation and tested actual outdoor experiments.
