Kuroda Yoji
   Department   Undergraduate School  , School of Science and Technology
   Position   Professor
Language English
Publication Date 2020/12
Type Academic Journal
Peer Review Peer reviewed
Title Development of Edge-Node Map Based Navigation System Without Requirement of Prior Sensor Data Collection
Contribution Type Co-authored (other than first author)
Journal Journal of Robotics and Mechatronics
Journal TypeJapan
Publisher Fuji Technology Press
Volume, Issue, Page 32(6),pp.1112-1120
Total page number 9
Authorship Last author,Corresponding author
Author and coauthor Kazuki Takahashi, Jumpei Arima, Toshihiro Hayata, Yoshitaka Nagai, Naoya Sugiura, Ren Fukatsu, Wataru Yoshiuchi, Yoji Kuroda
Details 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.
URL for researchmap https://www.jstage.jst.go.jp/article/jrobomech/32/6/32_1112/_article/-char/ja/