TY - JOUR
T1 - A trial of autonomous long-distance outdoor navigation at 3.5km side-walk in university of Tsukuba
AU - Yamaguchi, Tomoya
AU - Yuta, Shin'ichi
PY - 2011
Y1 - 2011
N2 - The purpose of this research is the development of a practical long distance navigation system of mobile robots in outdoor environment. We defined the research target as "An autonomous mobile robot runs on the sidewalk of 3.5km loop-street at Univ. of Tsukuba" and we have developed a experimental system for autonomous travelling in the defined environment. In the developed system, the route was divided into sidewalk sections and intersection sections, and the suitable methods were installed for both type of sections. In sidewalk section, the robot travels based on the road edge detection by laser range sensor, and in the intersections, the robot runs based on the teaching-playback scheme using the scan data by laser range sensor. In this paper, we explain the defined problem and the basic structure of the navigation system, We also report the experimental results in the defined route and discuss on this results with findings got from this research.
AB - The purpose of this research is the development of a practical long distance navigation system of mobile robots in outdoor environment. We defined the research target as "An autonomous mobile robot runs on the sidewalk of 3.5km loop-street at Univ. of Tsukuba" and we have developed a experimental system for autonomous travelling in the defined environment. In the developed system, the route was divided into sidewalk sections and intersection sections, and the suitable methods were installed for both type of sections. In sidewalk section, the robot travels based on the road edge detection by laser range sensor, and in the intersections, the robot runs based on the teaching-playback scheme using the scan data by laser range sensor. In this paper, we explain the defined problem and the basic structure of the navigation system, We also report the experimental results in the defined route and discuss on this results with findings got from this research.
KW - Autonomous navigation
KW - Experimental approach
KW - Mobile robots
KW - Urban environment
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U2 - 10.1299/kikaic.77.2782
DO - 10.1299/kikaic.77.2782
M3 - Article
AN - SCOPUS:84859589854
VL - 77
SP - 2782
EP - 2794
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 779
ER -