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


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

February 23, 2018
June 6, 2018
August 20, 2018
autonomous navigation system, electronic map, road-following

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.

Navigation with edge-node graph

Navigation with edge-node graph

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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