Adaptive speed control system using supervised long-range road estimation

In this paper, we propose a speed control system for autonomous mobile robots using long-range road estimation. In our method, the long-range road is estimated using the images from a camera and the result of near-range road estimation from a laser scanner. Near-range road surface conditions are estimated by using information of remission value as reflectivity of a laser. Our speed control determines velocity from the width and distance of the road, and this speed control makes the robot's performance more efficient (speedy). Our proposed method is adapted to various environments and it is effective to moving objects. Experimental results show that efficient movement can be performed by our proposed method.