Autonomous Robot Navigation in Outdoor Cluttered Pedestrian Walkways
Yoichi Morales, Alexander Carballo, Eijiro Takeuchi, Atsushi Aburadani, and Takashi Tsubouchi
Journal of Field Robotics 26(8), 609–635 (2009)
Abstract:
This paper describes an implementation of a mobile robot system for autonomous navigationin outdoor concurred walkways. The task was to navigate through nonmodified pedestrian paths with people and bicycles passing by. The proposed approach proved to be robust for outdoor navigationin cluttered and crowded walkways, first on campus paths and then running the challenge course multiple times between trials and the challenge final. The paper reports experimental results and overall performance of the system. Finally the lessons learned are discussed. The main contribution of this work is the report of a system integration approach for autonomous outdoor navigation and its evaluation.
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