Kuroda Yoji
   Department   Undergraduate School  , School of Science and Technology
   Position   Professor
Language English
Publication Date 2011/12
Type International Conference
Title Autonomous Mobile System in Urban Environments with Moving Obstacles such as people and another robots
Contribution Type Co-authored (other than first author)
Journal Proc. of The 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO2011)
Volume, Issue, Page pp.1041-1046
Author and coauthor Yuya Nagata, Masahito Mitsuhashi and Yoji Kuroda
Details 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.
URL for researchmap http://ieeexplore.ieee.org/document/6181425/