Out-door navigation of autonomous mobile robot

本研究的目的是发展一种移动的机器人，利用其自身对环境的知识和自身的传感器信息，在真实的环境中导航到给定的目的地。特别地，选择大学校园的室外环境作为机器人的工作区域。（1）使用图像的室外环境识别，（2）建立和使用环境地图用于导航的方法，（3）用于规划安全和鲁棒路径以到达目标的方法，（4）使用传感器信息和地图的真实的时间位置估计，（5）控制非完整机器人在粗糙地面上沿给定路径行驶，利用这些研究结果，我们建立了一个具体的移动的机器人系统，并成功地在大学校园内对行人进行了导航实验。

The purpose of this research has been the development of the technology to realize a mobile robot to navigate to the given destination in the real environment, by using its own knowledge on the environment and its own sensor information.Especially, the outdoor environment in the University campus was selected as the work area of the robot.For this problem, we investigated on ;(1) out-door environment recognition using the image,(2) method to build and use the environment map for navigation,(3) method for planning the safe and robust path to reach the goal,(4) real time position estimation using the sensor information and map, and(5) control of non-holonomic vehicle to follow the give path on the rough ground surface.Using the results of these consideration, we have built up a concrete mobile robot system for the experiments, and succeeded in navigation experiments on the pedestrians in University campus.