Development of autonomous navigation system for an indoor service robot application

This paper describes an autonomous navigation system for an indoor service robot application. A navigation system is one of the most important skills for a service robot application. To make the robot go to its goal pose, a navigation software generally includes a map building, a localization, a path planning and an obstacle avoidance algorithm. The proposed navigation system uses grid map information. The Monte Carlo localization algorithm and A-star path planning algorithm are applied to the navigation system. The proposed navigation system is tested under a simulation environment and shows good performance for a service robot application.