Implementation of Autonomous Navigation Using a Mobile Robot Indoor

摘要

This paper describes an implementation of autonomous navigation of a mobile robot indoors. The implementation includes map building, path planning, localization, local path planning and obstacle avoidance. ICP(Iterative closest point) is employed to build grid based map using scanned range data. Dijkstra algorithm plans the shortest distance path from a start position to a goal point. Particle filter estimates the robot position and orientation using the scanned range data. Elastic force is used for local path planning and obstacle avoidance towards a goal position. The algorithms are combined for autonomous navigation in a work area, which comprises indoor environments with different types. The experiments show that the proposed method works well for safe autonomous navigation.