迷路ランナー：線ベース自己位置推定と制御バリア関数による自律迷路ナビゲーション

原文アブストラクト

Maze navigation requires localization from sparse, repetitive geometry, planning through narrow corridors, and control that stays safe when the estimate or the map is wrong. We present Maze Runner, an open autonomy stack in C++ and ROS 2 that addresses these needs end to end on a simulated Husarion ROSbot XL with a 2D LiDAR in Gazebo. Perception extracts wall lines from each scan with RANSAC and total least squares, with per-line uncertainty. The same line front end feeds two estimators: an Extended Kalman Filter (EKF) that localizes against a line map built from the maze mesh, and an EKF SLAM variant that builds the line map online. Planning runs online on an inflated occupancy grid with A* plus line-of-sight shortcutting, or with a forward-only Hybrid A*. A nonlinear Model Predictive Controller (NMPC) tracks the plan while discrete-time Control Barrier Functions (CBFs) on world-frame LiDAR points keep the robot clear of walls and unmapped obstacles. The algorithms live in a ROS-free, unit-tested core library, and the whole stack builds and runs from a single reproducible environment. In simulation, the robot drives a 135 m route through the maze with 1.0 cm localization RMSE against the known map and 24 cm in SLAM mode, the planner returns a path in 6 ms, and the NMPC solves in 11.7 ms on average, never exceeding its 80 ms budget.