Open AccessRobust Road-Following Navigation System with a Simple Map
Author(s) -
Yuki Hosoda,
Ryota Sawahashi,
Noriaki Machinaka,
Ryota Yamazaki,
Yudai Sadakuni,
Kazuya Onda,
Ryosuke Kusakari,
Masaro Kimba,
T. Oishi,
Yoji KURODA
Publication year - 2018
Publication title -
journal of robotics and mechatronics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.257
H-Index - 19
eISSN - 1883-8049
pISSN - 0915-3942
DOI - 10.20965/jrm.2018.p0552
Subject(s) - motion planning , computer science , robot , enhanced data rates for gsm evolution , computer vision , navigation system , graph , artificial intelligence , simple (philosophy) , node (physics) , mobile robot , mobile robot navigation , path (computing) , engineering , robot control , theoretical computer science , computer network , philosophy , structural engineering , epistemology
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.
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