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Using OpenStreetMap for Autonomous Mobile Robot Navigation

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Intelligent Autonomous Systems 14 (IAS 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 531))

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Abstract

In this paper, the integration of OpenStreetMap (OSM) geodata to a robot system which focuses on autonomous off-highway driving is presented. It is shown, how the OSM data is enriched with other data sources and how the map information is processed to generate a path that fits to the capabilities of the robot. Based on the map information, the quality of Global Satellite Navigation System (GNSS) signals is estimated and incorporated into the routing process, e.g. to avoid path with a high probably of GNSS disturbances. Furthermore, it is demonstrated how the robot’s localization based on a Carlson filter can be improved by these estimations.

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Notes

  1. 1.

    http://wiki.openstreetmap.org/wiki/Humanitarian_OSM_Team.

  2. 2.

    http://finroc.org.

  3. 3.

    http://wiki.openstreetmap.org/wiki/Overpass_API.

  4. 4.

    http://www2.jpl.nasa.gov/srtm/.

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Author information

Authors and Affiliations

  1. Robotics Research Lab, Department of Computer Science, University of Kaiserslautern, Gottlieb-Daimler-Str., 67663, Kaiserslautern, Germany

    Patrick Fleischmann, Thomas Pfister, Moritz Oswald & Karsten Berns

Authors
  1. Patrick Fleischmann
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  2. Thomas Pfister
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  3. Moritz Oswald
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  4. Karsten Berns
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Corresponding author

Correspondence to Patrick Fleischmann .

Editor information

Editors and Affiliations

  1. Shanghai Jiao Tong University , Shanghai, China

    Weidong Chen

  2. Osaka University , Osaka, Japan

    Koh Hosoda

  3. University of Padua , Padua, Italy

    Emanuele Menegatti

  4. Osaka University , Osaka, Japan

    Masahiro Shimizu

  5. Shanghai Jiao Tong University , Shanghai, China

    Hesheng Wang

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Fleischmann, P., Pfister, T., Oswald, M., Berns, K. (2017). Using OpenStreetMap for Autonomous Mobile Robot Navigation. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_64

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  • DOI: https://doi.org/10.1007/978-3-319-48036-7_64

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-48035-0

  • Online ISBN: 978-3-319-48036-7

  • eBook Packages: EngineeringEngineering (R0)

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