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	2011/12
形態種別	国際会議議事録
標題	Autonomous Mobile System in Urban Environments with Moving Obstacles such as people and another robots
執筆形態	共著(筆頭者以外)
掲載誌名	Proc. of The 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO2011)
巻・号・頁	pp.1041-1046
著者・共著者	Yuya Nagata, Masahito Mitsuhashi and Yoji Kuroda
概要	In this paper, we propose an autonomous navigation system in urban environments. In order to create a useful navigation system in urban environments, the system examines whether the area near around is traversable or not in real time, instead of using prior knowledge of dense maps. To examine the traversability robustly, the system adopts the following technologies. The system involves a localization with the information of GPS and dead reckoning, and integration method using Divided Difference Filter (DDF). DDF is an appropriate localization method using truncated data of GPS in urban areas. The system also estimates traversability of road regions using a laser range finder (LRF). By estimating traversability, robot is able to run safely on the route even if localization had poor accuracy. Lastly, the system detects moving obstacles using LRF, because the robot must be operated in environments where many people would exist. The effectiveness of the proposed system is proved through some experiments in outdoor environments including various situations.
researchmap用URL	http://ieeexplore.ieee.org/document/6181425/