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首页> 外文期刊>Journal of robotic systems >Autonomous Robot Navigation in Outdoor Cluttered Pedestrian Walkways
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Autonomous Robot Navigation in Outdoor Cluttered Pedestrian Walkways

机译：户外凌乱的人行道上的自主机器人导航

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摘要

This paper describes an implementation of a mobile robot system for autonomous navigation in outdoor concurred walkways. The task was to navigate through nonmodified pedestrian paths with people and bicycles passing by. The robot has multiple redundant sensors, which include wheel encoders, an inertial measurement unit, a differential global positioning system, and four laser scanner sensors. All the computation was done on a single laptop computer. A previously constructed map containing waypoints and landmarks for position correction is given to the robot. The robot system's perception, road extraction, and motion planning are detailed. The system was used and tested in a 1-km autonomous robot navigation challenge held in the City of Tsukuba, Japan, named "Tsukuba Challenge 2007." The proposed approach proved to be robust for outdoor navigation in cluttered and crowded walkways, first on campus paths and then running the challenge course multiple times between trials and the challenge final. The paper reports experimental results and overall performance of the system. Finally the lessons learned are discussed. The main contribution of this work is the report of a system integration approach for autonomous outdoor navigation and its evaluation.
机译：本文介绍了一种用于室外同意人行道自主导航的移动机器人系统的实现。任务是在人和自行车经过的情况下在未经修改的人行道上导航。该机器人具有多个冗余传感器，其中包括车轮编码器，惯性测量单元，差分全球定位系统和四个激光扫描仪传感器。所有计算都是在一台便携式计算机上完成的。包含用于位置校正的航路点和地标的先前构建的地图已提供给机器人。详细介绍了机器人系统的感知，道路提取和运动计划。该系统在日本筑波市举行的名为“ Tsukuba Challenge 2007”的1公里自动机器人导航挑战赛中得到使用和测试。事实证明，该建议的方法对于在拥挤不堪的人行道中进行户外导航具有强大的鲁棒性，首先是在校园路径上，然后在试验和最终挑战之间多次运行挑战路线。本文报告了系统的实验结果和整体性能。最后讨论了所学到的教训。这项工作的主要贡献是报告了一种用于户外自动导航及其评估的系统集成方法。

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  • 来源
    《Journal of robotic systems》 |2009年第8期|609-635|共27页
  • 作者

    Yoichi Morales; Alexander Carballo; Eijiro Takeuchi; Atsushi Aburadani; Takashi Tsubouchi;

  • 作者单位

    Intelligent Robot Laboratory Graduate School of Systems and Information Engineering University of Tsukuba 1-1-1 Tennoudai Tsukuba 305-8573, Japan;

    Intelligent Robot Laboratory Graduate School of Systems and Information Engineering University of Tsukuba 1-1-1 Tennoudai Tsukuba 305-8573, Japan;

    Intelligent Robot Laboratory Graduate School of Systems and Information Engineering University of Tsukuba 1-1-1 Tennoudai Tsukuba 305-8573, Japan;

    Intelligent Robot Laboratory Graduate School of Systems and Information Engineering University of Tsukuba 1-1-1 Tennoudai Tsukuba 305-8573, Japan;

    Intelligent Robot Laboratory Graduate School of Systems and Information Engineering University of Tsukuba 1-1-1 Tennoudai Tsukuba 305-8573, Japan;

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