Autonomous Mobile Robot for Outdoor Slope Using 2D LiDAR with Uniaxial Gimbal Mechanism

• Hara Shunya

  Kobe City College of Technology

• Shimizu Toshihiko

  Kobe City College of Technology

• Konishi Masanori

  Kobe City College of Technology

• Yamamura Ryotaro

  Kobe City College of Technology

• Ikemoto Shuhei

  Graduate School of Life Science and Systems Engineering, Kyusyu Institute of Technology

抄録

The Nakanoshima Challenge is a contest for developing sophisticated navigation systems of robots for collecting garbage in outdoor public spaces. In this study, a robot named Navit(oo)n is designed, and its performance in public spaces such as city parks is evaluated. Navit(oo)n contains two 2D LiDAR scanners with uniaxial gimbal mechanism, improving self-localization robustness on a slope. The gimbal mechanism adjusts the angle of the LiDAR scanner, preventing erroneous ground detection. We evaluate the navigation performance of Navit(oo)n in the Nakanoshima and its Extra Challenges.

収録刊行物

• Journal of Robotics and Mechatronics

  Journal of Robotics and Mechatronics 32 (6), 1173-1182, 2020-12-20

  富士技術出版株式会社

キーワード

• mobile robot
• LiDAR
• SLAM
• uniaxial gimbal mechanism
• slope

詳細情報

• CRID: 1391975831221283584
• NII論文ID: 130007958312
• NII書誌ID: AA10809998
• DOI: 10.20965/jrm.2020.p1173
• ISSN: 18838049
• ISSN: 09153942
• HANDLE: 10228/00008253
• NDL書誌ID: 031196196
• Web Site: https://kyutech.repo.nii.ac.jp/records/7049
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I031196196
• Web Site: https://www.fujipress.jp/main/wp-content/themes/Fujipress/phyosetsu.php?ppno=ROBOT003200060007
• 本文言語コード: en
• データソース種別:
  • JaLC
  • IRDB
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可