Masatomo Kanehara
National Institute of Advanced Industrial Science and Technology
Papers
1
Total Citations
28
H-Index
1
About
Masatomo Kanehara is a leading figure in mobile robotics and autonomous navigation, best known for his pioneering work in path planning and trajectory optimization. His most influential contribution, the 2007 paper "Path shortening and smoothing of grid-based path planning with consideration of obstacles," has garnered over 28 citations and remains a cornerstone in the field. In this work, Kanehara introduced a novel method that refines grid-based A* paths by generating clothoidal curvature profiles, effectively smoothing trajectories while maintaining a safe distance from obstacles. This approach not only enhances the feasibility of paths for wheeled robots but also accounts for initial heading constraints, a critical factor often overlooked in prior algorithms. Kanehara’s research bridges the gap between discrete grid search and continuous motion control, offering practical solutions for real-world autonomous systems. His contributions have influenced subsequent developments in safe, human-like navigation for mobile robots, autonomous vehicles, and service robots. By addressing both geometric smoothness and obstacle avoidance, Kanehara has provided a foundational tool for researchers and engineers seeking to deploy robots in cluttered, dynamic environments.
Research Focus
Key Achievements
Top Papers
- 1