Mobile robot's navigation based on road segmentation and route evaluation.

Abstract

In recent years, development of robots that can run independently in the same space as humans has been progressing. Most of the current navigation methods for autonomous robots use geometric information. While this method is easy to implement, it has some drawbacks, such as the need for accurate self-positioning and vulnerability to errors in sensor information. Humans do not have an exact self-position, but rather, they recognize an approximate location based on surrounding information and envision the path to the goal to reach the destination. Therefore, this study examines a navigation method that plans a route based on an abstract map, such as a hand-drawn map, and then travels independently to the destination.