学位論文

長距離移動のための自律ナビゲーションシステムの開発

Development of Autonomous Navigation System for Long-distance Movement

jpn

2010-03-24

Not Applicable (or Unknown)

2010-03-24

修士(工学)

工学研究科システム工学専攻; 指導教授: 渡辺嘉二郎

This paper describes a new implementation of the autonomous navigation system for long-distance movement such as Real World Robot Challenge (RWCR). In proposed system, to navigate safely, the current position of the mobile robot is corrected with the image template matching with the Normalized Cross-Correlation (NCC) between a probability map and stored global probability map. The probability map is generated by occupation probability based grid based on profile of the laser range finder. The probability map is updated obstacles information based on laser range finder uncertainty model. To confirm the validity of proposed autonomous navigation system, an electric wheelchair based mobile robot is used for implementation and tested actual outdoor experiments.

Thesis