Currently, mobile robots are developing rapidly and are finding numerous applications in industry. However, there remain a number of problems related to their practical use, such as the need for expensive hardware and their high power consumption levels. In this study, we propose a navigation system that is operable on a low-end computer with an RGB-D camera and a mobile robot platform for the operation of an integrated autonomous driving system. The proposed system does not require LiDARs or a GPU. Our raw depth image ground segmentation approach extracts a traversability map for the safe driving of low-body mobile robots. It is designed to guarantee real-time performance on a low-cost commercial single board computer with integrated SLAM, global path planning, and motion planning. Running sensor data processing and other autonomous driving functions simultaneously, our navigation method performs rapidly at a refresh rate of 18Hz for control command, whereas other systems have slower refresh rates. Our method outperforms current state-of-the-art navigation approaches as shown in 3D simulation tests. In addition, we demonstrate the applicability of our mobile robot system through successful autonomous driving in a residential lobby.
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