クロダ　ヨウジ   Kuroda Yoji   黒田　洋司    所属   明治大学  理工学部    職種   専任教授
言語種別	英語
発行・発表の年月	2015/08
形態種別	学術雑誌
査読	査読あり
標題	Integrated Autonomous Navigation System and Automatic Large Scale Three Dimensional Map Construction
執筆形態	共著(筆頭者以外)
掲載誌名	Journal of Robotics and Mechatronics
掲載区分	国内
出版社・発行元	JSME/Fuji Technology Press
巻・号・頁	27(4),pp.401-409
著者・共著者	Y. Fujino, K. Kiuchi, S. Shimizu, T. YOKOTA, and Y. Kuroda
概要	The method we propose for constructing a large three-dimensional (3D) map uses an autonomous mobile robot whose navigation system enables the map to be constructed. Maps are vital to autonomous navigation, but constructing and updating them while ensuring that they are accurate is challenging because the navigation system usually requires accurate maps. We propose a navigation system that explores areas not explored before. The proposed system mainly uses LIDARs for determining its own position - a process known as localization - or the environment around the robot - a process known as environment recognition - for creating local maps and for avoiding mobile objects - a process known as motion planning. We constructed a detailed 3D map automatically using autonomous driving data to improve navigation accuracy without increasing the operator's workload, confirming the feasibility of the proposed method through experiments.
researchmap用URL	https://www.fujipress.jp/jrm/rb/robot002700040401