1A1-N-026 Development of Cylinder Rotational Processing by the Autonomous Mobile Robot in Maze Environment : The Self-position Modification Method Including the Advance Direction which made the Cylinder the Landmark(Mobile Manipulation Robot 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

2005 ◽  
Vol 2005 (0) ◽  
pp. 11
Author(s):  
Yoshinobu Ando ◽  
Makoto Mizukawa ◽  
Ryo Kakinuma
Keyword(s):  
Mobile Robot ◽  
The Self ◽  
Mobile Manipulation ◽  
Autonomous Mobile Robot ◽  
Daily Lives ◽  
Modification Method ◽  
Manipulation Robot

Development of Autonomous Mobile Robot “MML-05” Based on i-Cart Mini for Tsukuba Challenge 2015

2016 ◽  
Vol 28 (4) ◽  
pp. 461-469 ◽  
Author(s):  
Tomoyoshi Eda ◽  
◽  
Tadahiro Hasegawa ◽  
Shingo Nakamura ◽  
Shin’ichi Yuta
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
The Self ◽  
Autonomous Mobile Robots ◽  
Autonomous Mobile Robot ◽  
Localization Method ◽  
Occupancy Grid ◽  
Grid Map ◽  
Local Grid ◽  
Occupancy Grid Map

[abstFig src='/00280004/04.jpg' width='300' text='Autonomous mobile robots entered in the Tsukuba Challenge 2015' ] This paper describes a self-localization method for autonomous mobile robots entered in the Tsukuba Challenge 2015. One of the important issues in autonomous mobile robots is accurately estimating self-localization. An occupancy grid map, created manually before self-localization has typically been utilized to estimate the self-localization of autonomous mobile robots. However, it is difficult to create an accurate map of complex courses. We created an occupancy grid map combining local grid maps built using a leaser range finder (LRF) and wheel odometry. In addition, the self-localization of a mobile robot was calculated by integrating self-localization estimated by a map and matching it to wheel odometry information. The experimental results in the final run of the Tsukuba Challenge 2015 showed that the mobile robot traveled autonomously until the 600 m point of the course, where the occupancy grid map ended.

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