1Km Autonomous Robot Navigation on Outdoor Pedestrian Paths "Running The Tsukuba Challenge 2007"

被引：16
作者：
Morales, Yoichi
Takeuchi, Eijiro
Carballo, Alexander
Tokunaga, Wataru
Kuniyoshi, Hiroyasu
Aburadani, Atsushi
Hirosawa, Atsushi
Nagasaka, Yoshisada
Suzuki, Yusuke
Tsubouchi, Takashi
机构：
来源：
2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS | 2008年
关键词：
D O I：
10.1109/IROS.2008.4650584
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents and describes the approach for achieving long distance autonomous navigation with a mobile robot on outdoor cluttered pedestrian paths. The task was to finish an event launched by the City of Tsukuba in Japan, called "Real World Robot Challenge", of navigating 1km autonomously in a real environment with real pedestrians and bicycles. The hardware, software and strategy for navigating in cluttered environments is explained. Moreover, the complementary functionality of the overall system where map-based and sensor-based navigation seamlessly change, is presented. The robustness of the system is validated with experimental results.
引用
收藏
页码：219 / 225
页数：7
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