Kuroda Yoji
   Department   Undergraduate School  , School of Science and Technology
   Position   Professor
Language English
Publication Date 2018/08
Type Academic Journal
Peer Review Peer reviewed
Title Robust Road-Following Navigation System with a Simple Map
Contribution Type Co-authored (other than first author)
Journal Journal of Robotics and Mechatronics
Journal TypeJapan
Publisher Fuji Technology Press
Volume, Issue, Page 30(4),pp.552-562
Total page number 11
Authorship Last author,Corresponding author
Author and coauthor Yuki Hosoda, Ryota Sawahashi, Noriaki Machinaka, Ryota Yamazaki, Yudai Sadakuni, Kazuya Onda, Ryosuke Kusakari, Masahiro Kimba, Tomotaka Oishi, and Yoji Kuroda
Details 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.
URL for researchmap https://www.fujipress.jp/jrm/rb/robot003000040552/