Development of mobile robot navigation system using simplified map based on place recognition

被引：0

作者：

Yamanaka, Satoshi ^{[1
]}

Morioka, Kazuyuki ^{[1
]}

机构：

[1] Meiji Univ, Sch Sci & Technol, Dept Elect Engn, Tokyo, Japan

来源：

PROCEEDINGS OF THE EIGHTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 18TH '13) | 2013年

关键词：

Mobile robot navigation; Hybrid map; Position estimation;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper introduces a mobile robot navigation system using simplified hybrid maps based on occupancy grid maps of important places and relationships among them. In order to achieve autonomous navigation with the hybrid maps, additional information, such as waypoints in important places with occupancy grid maps, are learned in SLAM process. Also, navigation system based on state transition between inside and outside of the important places is proposed. Finally, experimental results with actual robot systems in indoor environments are shown.

引用

页码：570 / 573

页数：4

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