Development of an Autonomous Mobile Robot Doing Self-Position Estimation and Road Region Search

This paper proposes an autonomous mobile robot expected to realize an intelligent robot that supports a human life. The proposed mobile robot has three main functions; self-position estimation, road region estimation, and routeplanning. Self-position estimation is performed by comparing local features obtained from the frontal images captured by the robot to a knowledge base. In road region estimation, the frontal image is separated into several regions to findthe region where the robot can move. Furthermore, the route to the destination is planned by graph search. Experimental results show satisfactory performance of the proposed mobile robot.2020 International Conference on Artificial Life and Robotics (ICAROB2020, 25th AROB International Meeting Series , January 13-16, 2020, B-Con Plaza, Beppu, Oita, Japa