1717 Outdoor navigation of a wheeled mobile robot based on multiple sensors
Daisuke Takahashi, 克弘 鹿内, Masaki YOKOTA, Yoshio Yamamoto · The Proceedings of Conference of Kanto Branch · 2012
This paper presents a navigation strategy of a wheeled mobile robot in an outdoor obstructed environment A laser ranger finder and GPS sensor are equipped on the mobile robot in order to perform sensor-based navigation without any a prion knowledge about its environment. Look-ahead control is adopted to steer the mobile robot In addition to the obstacle avoidance scheme, a way-point navigation system is implemented and then evaluated on an odometiy-based approach and GPS-based approach for a tracking performance. We participated m a robot competition called Tsukuba Challenge 2011 to verify the proposed approach Also, we adopted Kalman filtering to establish and integrate sensor information