Kuroda Yoji
   Department   Undergraduate School  , School of Science and Technology
   Position   Professor
Language English
Publication Date 2015/08
Type Academic Journal
Peer Review Peer reviewed
Title Integrated Autonomous Navigation System and Automatic Large Scale Three Dimensional Map Construction
Contribution Type Co-authored (other than first author)
Journal Journal of Robotics and Mechatronics
Journal TypeJapan
Publisher JSME/Fuji Technology Press
Volume, Issue, Page 27(4),pp.401-409
Author and coauthor Y. Fujino, K. Kiuchi, S. Shimizu, T. YOKOTA, and Y. Kuroda
Details 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.
URL for researchmap https://www.fujipress.jp/jrm/rb/robot002700040401