Autonomous navigation system for mobile robots using a route map

An autonomous navigation method for intelligent mobile robots is proposed by the authors. It uses two levels of map information, i.e. a world map and a route map. The route map includes geometric information on the path from the starting point to the destination, and the surrounding data along the path. The execution system for travelling along the route map using sensor information is called Route Runner. In this paper, the data format of the route map to represent the building environment is defined and the algorithm of the route map is given. Route Runner has the following functions: (1) travelling straight and turning according to the route map; (2) adjustment of the robot's own position information using a map and sensors; and (3) taking proper action for obstacles on the route. For practical experiments, Route Runner is implemented on the self-contained mobile robot Yamabico 9.