著者

原 祥尭 坪内 孝司 油田 信一

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2012, pp._2A1-L09_1-_2A1-L09_4, 2012

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We developed an acquisition method of maps and paths using ROS stacks for autonomous navigation by teaching playback framework. There are many strategies for autonomous navigation. In teaching playback framework, it is not a problem that maps are distorted continuously. However, if the maps are accurate, it is useful for human interfaces and extending the autonomous navigation area. Recently, the ROS platform has been used actively around the world. In ROS stacks, there is slam_gmapping stack that provides Grid-based SLAM using Rao-Blackwellized Particle Filter. Therefore we are trying to use ROS stacks for acquisition of maps and paths, and to evaluate its effectiveness for autonomous navigation.