Using OpenStreetMap for autonomous mobile robot navigation

Abstract

In this paper, the integration of OpenStreetMap (OSM) geodata to a robot system which focuses on autonomous off-highway driving is presented. It is shown, how the OSM data is enriched with other data sources and how the map information is processed to generate a path that fits to the capabilities of the robot. Based on the map information, the quality of Global Satellite Navigation System (GNSS) signals is estimated and incorporated into the routing process, e.g. to avoid path with a high probably of GNSS disturbances. Furthermore, it is demonstrated how the robot’s localization based on a Carlson filter can be improved by these estimations.