Outdoor navigation of mobile robots using line drawing maps and directions

线条画地图和方向图经常被导航人员使用。如果可以使用这些信息来导航移动机器人，那将是有用的。为了实现这样的机器人，我们开发了以下方法：(1)使用划线地图进行导航；(2)通过图像序列表示的方向进行导航；(3)高可靠的可穿越区域检测。这些方法已经在室外自主定位导航实验和载人导航实验中得到了实现，证明了它们的有效性。

Line drawing maps and directions are often used for navigation people. It would be useful if mobile robots can be navigated using such information. To realize such a robot, we developed the following methods :(1) navigation by using line drawing maps,(2) navigation by directions represented by image sequences, and(3) highly reliable traversable region detection. These methods have been implemented for outdoor autonomous localization and navigation experiments and person navigation experiments to show their effectiveness.