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JRM Vol.30 No.4 pp. 552-562
doi: 10.20965/jrm.2018.p0552
(2018)

Paper:

Robust Road-Following Navigation System with a Simple Map

Yuki Hosoda, Ryota Sawahashi, Noriaki Machinaka, Ryota Yamazaki, Yudai Sadakuni, Kazuya Onda, Ryosuke Kusakari, Masaro Kimba, Tomotaka Oishi, and Yoji Kuroda

Meiji University
1-1-1 Higashimita, Tama-ku, Kawasaki, Kanagawa 214-8571, Japan

Received:
February 23, 2018
Accepted:
June 6, 2018
Published:
August 20, 2018
Keywords:
autonomous navigation system, electronic map, road-following
Abstract
Robust Road-Following Navigation System with a Simple Map

Navigation with edge-node graph

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.

Cite this article as:
Y. Hosoda, R. Sawahashi, N. Machinaka, R. Yamazaki, Y. Sadakuni, K. Onda, R. Kusakari, M. Kimba, T. Oishi, and Y. Kuroda, “Robust Road-Following Navigation System with a Simple Map,” J. Robot. Mechatron., Vol.30, No.4, pp. 552-562, 2018.
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Last updated on Dec. 13, 2018