Integrated Autonomous Navigation System and Automatic Large Scale Three Dimensional Map Construction
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- Fujino Yusuke
- Department of Mechanical Engineering, Meiji University
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- Kiuchi Kentaro
- Department of Mechanical Engineering, Meiji University
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- Shimizu Shogo
- Department of Mechanical Engineering, Meiji University
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- Yokota Takayuki
- Department of Mechanical Engineering, Meiji University
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- Kuroda Yoji
- Department of Mechanical Engineering, Meiji University
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抄録
<p>The method we propose for constructing a large three-dimensional (3D) map uses an autonomous mobile robot whose navigation system enables the map to be constructed. Maps are vital to autonomous navigation, but constructing and updating them while ensuring that they are accurate is challenging because the navigation system usually requires accurate maps. We propose a navigation system that explores areas not explored before. The proposed system mainly uses LIDARs for determining its own position – a process known as localization – or the environment around the robot – a process known as environment recognition – for creating local maps and for avoiding mobile objects – a process known as motion planning. We constructed a detailed 3D map automatically using autonomous driving data to improve navigation accuracy without increasing the operator’s workload, confirming the feasibility of the proposed method through experiments.</p>
収録刊行物
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- Journal of Robotics and Mechatronics
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Journal of Robotics and Mechatronics 27 (4), 401-409, 2015-08-20
富士技術出版株式会社
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詳細情報 詳細情報について
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- CRID
- 1390845713080637568
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- NII論文ID
- 130007671216
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- NII書誌ID
- AA10809998
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- ISSN
- 18838049
- 09153942
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- NDL書誌ID
- 026676054
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可