A Cartographic Framework for Autonomous Mobile Robot Using OpenStreetMap Data

Abstract

This paper presents a cartographic framework that generates outdoor maps for autonomous mobile robots using OpenStreetMap(OSM). The framework collects various vector data from the OSM, and creates a map necessary for autonomous driving through a modifying and merging process. To verify the map, a set of experiments were conducted in Gazebo, which is one of the 3D robot simulators. The driving simulation was successfully performed, and the result shows that the map generated from the framework can be used in autonomous driving. This framework can accelerate the commercialization of various outdoor mobile robots by reducing the time and cost required for map construction and expanding the application field.