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	2020/12
形態種別	学術雑誌
査読	査読あり
標題	Development of Edge-Node Map Based Navigation System Without Requirement of Prior Sensor Data Collection
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	32(6),pp.1112-1120
総ページ数	9
担当区分	最終著者,責任著者
著者・共著者	Kazuki Takahashi, Jumpei Arima, Toshihiro Hayata, Yoshitaka Nagai, Naoya Sugiura, Ren Fukatsu, Wataru Yoshiuchi, Yoji Kuroda
概要	In this study, a novel framework for autonomous robot navigation system is proposed. The navigation system uses an edge-node map, which is easily created from electronic maps. Unlike a general self-localization method using an occupancy grid map or a 3D point cloud map, there is no need to run the robot in the target environment in advance to collect sensor data. In this system, the internal sensor is mainly used for self-localization. Assuming that the robot is running on the road, the position of the robot is estimated by associating the robot’s travel trajectory with the edge. In addition, node arrival determination is performed using branch point information obtained from the edge-node map. Because this system does not use map matching, robust self-localization is possible, even in a dynamic environment.
researchmap用URL	https://www.jstage.jst.go.jp/article/jrobomech/32/6/32_1112/_article/-char/ja/