A Study of Autonomous Mobile System in Outdoor Environment (Development of High-Resolution Positioning and Environmental Map Generating Systems)

Abstract

This study aims to develop an autonomous mobile system in outdoor environment. The mechanism and algorithm for improving the robustness and flexibility of a mobile robot system is addressed. This paper describes a high-resolution-positioning system which has an automatic magnetic calibration system that corrects the local magnetic field error around a compass. This paper also describes a high-resolution environmental map generating system which has a polygon approximation function. It enables the system to renew the map periodically. The result shows that both systems have high accuracy and adaptability to the changeable environment.