Teaching-Playback Navigation Without a Consistent Map
- 1 August 2018
- journal article
- research article
- Published by Fuji Technology Press Ltd. in Journal of Robotics and Mechatronics
- Vol. 30 (4), 591-597
- https://doi.org/10.20965/jrm.2018.p0591
Abstract
This paper presents a teaching-playback navigation method that does not require a consistent map built using simultaneous localization andmapping (SLAM). Many open source projects related to autonomous navigation including SLAM have been made available recently; however, autonomous mobile robot navigation in large-scale environments is still difficult because it is difficult to build a consistent map. The navigation method presented in this paper uses several partial maps to represent an environment map. In other words, the complex mapping process is not necessary to begin autonomous navigation. In addition, the trajectory that the robot travels in the mapping phase can be directly used as a target path. As a result, teaching-playback autonomous navigation can be achieved without any off-line processes. We tested the navigation method using log data taken in the environment of the Tsukuba Challenge and the testing results show its performance. We provide source code for the navigation method, which includes modules required for autonomous navigation (https://github.com/NaokiAkai/AutoNavi).Keywords
This publication has 11 references indexed in Scilit:
- A Compact and Portable Implementation of Graph-based SLAMThe Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2017
- Neonavigation meta-package: 2-D/3-DOF seamless global-local planner for ROS — Development and field test on the representative offshore oil plantPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2016
- Real-time loop closure in 2D LIDAR SLAMPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2016
- Rao-Blackwellized Particle Filter SLAM considering previous data with probabilistically accumulated scan shapesTransactions of the JSME (in Japanese), 2016
- An Open Approach to Autonomous VehiclesIEEE Micro, 2015
- ORB-SLAM: A Versatile and Accurate Monocular SLAM SystemIEEE Transactions on Robotics, 2015
- Autonomous Navigation Based on Magnetic and Geometric Landmarks on Environmental Structure in Real WorldJournal of Robotics and Mechatronics, 2014
- Improved Techniques for Grid Mapping With Rao-Blackwellized Particle FiltersIEEE Transactions on Robotics, 2007
- A scan matching method using Euclidean invariant signature for global localization and map buildingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- An experimental comparison of localization methods continuedPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003