Topometric Navigation Considering Movable Objects

Shunsuke Mochizuki, Ayanori Yorozu, Masaki Takahashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Recently, the demand for mobile manipulator-type human support robots has been increasing. Human support robots recognize the surrounding environment using a previously generated environmental map and perform navigation, such as localization and path planning. Conventional environment maps do not consider characteristics of objects and do not have any option to move an object to clear a path making it difficult for robots to move efficiently when an object is placed on their path. In this study, we propose topological navigation that uses a topological map based on sensing information and representing a path that robots can pass, and a metric map based on geometrical information of objects and representing the presence of objects. Consequently, if necessary, it is possible for robots to move a movable object to clear the passage and realize efficient movement in living environments.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 16 - Proceedings of the 16th International Conference IAS-16
EditorsMarcelo H. Ang Jr, Hajime Asama, Wei Lin, Shaohui Foong
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages11
ISBN (Print)9783030958916
Publication statusPublished - 2022
Event16th International Conference on Intelligent Autonomous Systems, IAS-16 2020 - Virtual, Online
Duration: 2021 Jun 222021 Jun 25

Publication series

NameLecture Notes in Networks and Systems
Volume412 LNNS
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389


Conference16th International Conference on Intelligent Autonomous Systems, IAS-16 2020
CityVirtual, Online


  • Environment recognition
  • Movable object
  • Path planning
  • Topological map
  • Topometric navigation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Computer Networks and Communications


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