Abstract
In this paper, we report a development of an autonomous mobile robot for long distance outdoor navigation in our university campus. We propose how to generate a long distance Perceived Route Map (PRM), a position-based navigation algorithm using PRM, and incremental integration of the robot system by multiple processors and multiple agents. Furthermore, we developed an experimental robot system and conducted experiments of autonomous navigation using PRM in our university campus. Finally, from experimental results, we discuss open problems and future work in outdoor navigation.
Preview
Unable to display preview. Download preview PDF.
References
Nishikawa K and Mori H, “Rotation Control and Motion Estimation of Camera for Road Following” Proc. of IEEE/RSJ International conference on Intelligent Robots and Systems, Vol.2, pp.1313–1318 (1993)
Thorpe C (Ed.) Vision and Navigation: The CMU Navlab, Kluwer Academic Publishers, (1990)
Kam M, Zhu X and Kalata P, “Sensor Fusion for Mobile Robot Navigation”, Proceedings of the IEEE, Vol.85 No.1, pp.108–119, (1997)
Crowly J L, “World Modeling and Position Estimation for Mobile Robot Using Ultrasonic Ranging”, Proc. of IEEE International Conference on Robotics and Automation Vol 2, pp.674–680, (1989)
Kriegman D J, Triendl E and Binford T O, “Stereo Vision and Navigation in Buildings for Mobile Robots”, IEEE Transaction on Robotics and Automoation, Vol.5, No.6, pp.792–680, (1989)
Leonard J J and Durrant-Whyte H F, “Mobile Robot Localization by Tracking Geometric Beacons”, IEEE Transaction on Robotics and Automation, Vol.7, No.3, pp.376–382, (1991)
Komoriya K, Oyama E and Tani K, “Planning of Landmark Measurement for the Navigation of a Mobile Robot”, Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol.2, pp.1476–1481, (1992)
Kosaka A and Kak A C, “Fast Vision-Guided Mobile Robot Navigation Using Model-Based Reasoning and Prediction of Uncertainties”, CVGIP: Image Understanding Vol.56, No.3, pp.271–329, (1992)
Maeyama S, Ohya A and Yuta S, “Positioning by tree detection sensor and dead reckoning for outdoor navigation of a mobile robot”, Proc. of IEEE International conference on Multisensor Fusion and Integration for Intelligent systems, pp.653–660 (1994)
Maeyama S, Ohya A and Yuta S, “Non-stop outdoor navigation of a mobile robot — Retroactive positioning data fusion with a time consuming sensor system —”, Proc. of IEEE/RSJ International conference on Intelligent Robots and System, Vol.1, pp.130–135 (1995)
Maeyama S, Ishikawa N and Yuta S, “Rule based filtering and fusion of odometry and gyroscope for a fail safe dead reckoning system of a mobile robot”, Proc. of IEEE International Conference on Multisensor Fusion and Integration for Intelligence Systems, pp.541–548 (1996)
Iida S and Yuta S, “Vehicle command system and trajectory control for autonomous mobile robots”, Proc. of IEEE/RSJ International Workshop of Intelligent Robots and Systems, pp.212–217 (1991)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1998 Springer-Verlag London Limited
About this paper
Cite this paper
Maeyama, S., Ohya, A., Yuta, S. (1998). Long distance outdoor navigation of an autonomous mobile robot by playback of perceived route map. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112961
Download citation
DOI: https://doi.org/10.1007/BFb0112961
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-76218-8
Online ISBN: 978-3-540-40920-5
eBook Packages: Springer Book Archive