Mobile Robot Outdoor Navigation with Upper Landmark Localization and Explicit Motion Planning

摘要

This paper introduces our approach to RWRC (“Tsukuba Challenge”). We are developing “intelligent software modules” for mobile robots in “Intelligent RT Software Project.” “Intelligent software modules” have mobile robot basic functions for running in real world where people exist. RWRC is a challenge aiming to research and develop the mobile robots in the presence of human activity and it is a chance to evaluate our modules. We implemented ICP(Iterative Closest Point) scan matching with upper landmarks, explicit motion planing, collision and obstacle avoidance in our robot named “TUFS,” with our software modles. As a result, our robot archieved the goal of RWRC2009 and RWRC2010.