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	2018/08
形態種別	学術雑誌
査読	査読あり
標題	Robust Road-Following Navigation System with a Simple Map
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	Fuji Technology Press
巻・号・頁	30(4),pp.552-562
総ページ数	11
担当区分	最終著者,責任著者
著者・共著者	Yuki Hosoda, Ryota Sawahashi, Noriaki Machinaka, Ryota Yamazaki, Yudai Sadakuni, Kazuya Onda, Ryosuke Kusakari, Masahiro Kimba, Tomotaka Oishi, and Yoji Kuroda
概要	This paper presents a novel autonomous navigation system. Our proposed system is based on a simple map (an Edge-Node Graph, which is created from an electronic map). This system consists of “Localization,” which estimates which edge is on the Edge-Node Graph, “Environmental Recognition,” which recognizes the environment around the robot, and “Path Planning,” which avoids objects. Since the robot travels using the Edge-Node Graph, there is no need to prepare an environmental map in advance. In addition, the system is quite robust, since it relies less on prior information. To show the effectiveness of our system, we conducted experiments on each elemental technology as well as some traveling tests.
researchmap用URL	https://www.fujipress.jp/jrm/rb/robot003000040552/