Environmental map for autonomous navigation system using geographical feature elements information

摘要

Environmental map for autonomous mobile robot navigation system was generated, under the condition that the robot moves in unknown environment and using geographical feature elements information. Image inputted by camera at every sampling time are analyzed and geographical elements are recognized, and the geographical information is embedded in environmental map. Then, the path is updated by integrating the exploited information and the prediction on unexploited environment. We used a sensor fusion method for improving the mobile robot dead reckoning accuracy. The experiment results, confirm the effectiveness of the proposed path-planning algorithm on the robot's reaching the goal successfully using geographical information are presented.