1A2-I02 Development of navigation system for mobile robot using Graph SLAM and local occupancy grid maps(Localization and Mapping (1))

Abstract

In this paper, we develop a navigation system of mobile robots without a global occupancy grid map. The mobile robots globally run based on path planning built by graph SLAM. While the robots are following the path, localization and obstacle avoidance are performed using the local occupancy grid maps. The robots run to destinations by integrating two kinds of maps. An actual robot system using this method is developed and navigation results are shown.