Kenji OKUMA
Papers
2
Total Citations
49
H-Index
2
About
Kenji Okuma is a pioneering researcher in the field of mobile robotics, with a primary focus on feedback control and obstacle avoidance for autonomous systems. His major contributions center on the development of Lyapunov-based control strategies for two-wheeled mobile robots operating in cluttered environments. In his most-cited work, "Feedback control of a two wheeled mobile robot with obstacle avoidance using potential functions" (2005, 41 citations), Okuma introduced a state feedback controller that employs potential functions to simultaneously achieve stabilization and safe navigation around obstacles. This approach elegantly unifies control and path planning by treating obstacles as repulsive fields and the target as an attractive point. His subsequent paper (2004, 8 citations) further refined these methods for environments with walls and pillars, using discontinuous feedback to overcome the limitations of traditional smooth controllers. Okuma’s work is notable for its practical impact on autonomous navigation, providing a mathematically rigorous yet implementable framework that has influenced subsequent research in nonholonomic robotics. His contributions remain a valuable reference for students and engineers seeking to design robust, obstacle-aware control systems for mobile platforms.
Research Focus
Key Achievements
Top Papers
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