1Km autonomous robot navigation on outdoor pedestrian paths "Running the Tsukuba Challenge 2007"

Yoichi Morales; Eijiro Takeuchi; Alexander Carballo; Wataru Tokunaga; Hiroyasu Kuniyoshi; Atsushi Aburadani; Atsushi Hirosawa; Yoshisada Nagasaka; Yusuke Suzuki; Takashi Tsubouchi

doi:10.1109/IROS.2008.4650584

1Km autonomous robot navigation on outdoor pedestrian paths "Running the Tsukuba Challenge 2007"

Yoichi Morales, Eijiro Takeuchi, Alexander Carballo, Wataru Tokunaga, Hiroyasu Kuniyoshi, Atsushi Aburadani, Atsushi Hirosawa, Yoshisada Nagasaka, Yusuke Suzuki, Takashi Tsubouchi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

25 Citations (Scopus)

Abstract

This paper presents and describes the approach for achieving long distance autonomous navigation with a mobile robot on outdoor cluttered pedestrian paths. The task was to finish an event launched by the City of Tsukuba in Japan, called "RealWorld Robot Challenge", of navigating 1km autonomously in a real environment with real pedestrians and bicycles. The hardware, software and strategy for navigating in cluttered environments is explained. Moreover, the complementary functionality of the overall system where map-based and sensor-based navigation seamlessly change, is presented. The robustness of the system is validated with experimental results.

Original language	English
Title of host publication	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages	219-225
Number of pages	7
DOIs	https://doi.org/10.1109/IROS.2008.4650584
Publication status	Published - 2008
Externally published	Yes
Event	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France Duration: 2008 Sept 22 → 2008 Sept 26

Publication series

Name	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Country/Territory	France
City	Nice
Period	08/9/22 → 08/9/26

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IROS.2008.4650584

Cite this

Morales, Y., Takeuchi, E., Carballo, A., Tokunaga, W., Kuniyoshi, H., Aburadani, A., Hirosawa, A., Nagasaka, Y., Suzuki, Y., & Tsubouchi, T. (2008). 1Km autonomous robot navigation on outdoor pedestrian paths "Running the Tsukuba Challenge 2007". In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 219-225). [4650584] (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2008.4650584

1Km autonomous robot navigation on outdoor pedestrian paths "Running the Tsukuba Challenge 2007". / Morales, Yoichi; Takeuchi, Eijiro; Carballo, Alexander et al.

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. p. 219-225 4650584 (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Morales, Y, Takeuchi, E, Carballo, A, Tokunaga, W, Kuniyoshi, H, Aburadani, A, Hirosawa, A, Nagasaka, Y, Suzuki, Y & Tsubouchi, T 2008, 1Km autonomous robot navigation on outdoor pedestrian paths "Running the Tsukuba Challenge 2007". in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 4650584, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, pp. 219-225, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Nice, France, 08/9/22. https://doi.org/10.1109/IROS.2008.4650584

Morales Y, Takeuchi E, Carballo A, Tokunaga W, Kuniyoshi H, Aburadani A et al. 1Km autonomous robot navigation on outdoor pedestrian paths "Running the Tsukuba Challenge 2007". In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. p. 219-225. 4650584. (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). doi: 10.1109/IROS.2008.4650584

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abstract = "This paper presents and describes the approach for achieving long distance autonomous navigation with a mobile robot on outdoor cluttered pedestrian paths. The task was to finish an event launched by the City of Tsukuba in Japan, called {"}RealWorld Robot Challenge{"}, of navigating 1km autonomously in a real environment with real pedestrians and bicycles. The hardware, software and strategy for navigating in cluttered environments is explained. Moreover, the complementary functionality of the overall system where map-based and sensor-based navigation seamlessly change, is presented. The robustness of the system is validated with experimental results.",

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1Km autonomous robot navigation on outdoor pedestrian paths "Running the Tsukuba Challenge 2007"

Abstract

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