Outdoor navigation using natural landmarks by teaching-playback scheme

Shoichi Maeyama, Akihisa Ohya, Shin'ichi Yuta

Research output: Contribution to conferencePaper

Abstract

The outdoor navigation of an autonomous and self-contained mobile robot using a perceived route map (PRM) generated through human-assisted route teaching is discussed. PRM includes the path from the start to the goal taught by operator and landmark information automatically generated by robot-self. The robot generates the route map which is perceived by own sensors. Navigation is performed by playback of the generated PRM. The robot navigates to the goal by feedback control of the estimated position by dead reckoning while playing back the path to follow, which is recorded in the PRM. Then, the robot occasionally corrects its position by fusion of the positional information obtained from landmark recognition.

Original languageEnglish
Publication statusPublished - 1997 Dec 1
EventProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3) - Grenoble, Fr
Duration: 1998 Sep 71998 Sep 11

Other

OtherProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3)
CityGrenoble, Fr
Period98/9/798/9/11

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Maeyama, S., Ohya, A., & Yuta, S. (1997). Outdoor navigation using natural landmarks by teaching-playback scheme. Paper presented at Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3), Grenoble, Fr, .