Proposal for Navigation System Using Three-Dimensional Maps—Self-Localization Using a 3D Map and Slope Detection Using a 2D Laser Range Finder and 3D Map

Many teams participating in robotic competitions achieve localization using a 2D map plotted using adaptive Monte Carlo localization, a robot operating system (ROS) open-source software program. However, outdoor environments often include nonlevel terrain such as slopes. In the indoor environment of...

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Bibliographic Details
Published inJournal of robotics and mechatronics Vol. 35; no. 6; pp. 1604 - 1614
Main Authors Chen, Neng, Suga, Shinichiro, Suzuki, Masato, Takahashi, Tomokazu, Mae, Yasushi, Arai, Yasuhiko, Aoyagi, Seiji
Format Journal Article
LanguageEnglish
Published Tokyo Fuji Technology Press Co. Ltd 20.12.2023
Subjects
Barriers
Cameras
College campuses
Indoor environments
Laser range finders
Lasers
Localization
Navigation systems
Open source software
Public domain
Recognition
Robotics
Robots
Sensors
Software
Validity
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Summary:Many teams participating in robotic competitions achieve localization using a 2D map plotted using adaptive Monte Carlo localization, a robot operating system (ROS) open-source software program. However, outdoor environments often include nonlevel terrain such as slopes. In the indoor environment of multilevel structures, the data representing different levels overlap on the map. These factors can lead to localization failures. To resolve this problem, we develop a software by combining HDL localization, which is an ROS open-source software, with our own program, and use it to achieve localization based on a 3D map. Furthermore, the authors observe the erroneous recognition of a slope as a forward obstacle during a competition event. To resolve this, we propose a method to correct erroneous recognition of obstacles using a 2D laser range finder and 3D map and confirm its validity in an experiment carried out on a slope on a university campus.
ISSN:0915-3942
1883-8049
DOI:10.20965/jrm.2023.p1604