Simplified System Integration of Robust Mobile Robot for Initial Pose Estimation for the Nakanoshima Robot Challenge-Reference-Cited by-同舟云学术

Simplified System Integration of Robust Mobile Robot for Initial Pose Estimation for the Nakanoshima Robot Challenge

Published:2023-12-20 Issue:6 Volume:35 Page:1532-1539
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Umetani Tomohiro¹^ORCID,Takeda Seo¹,Yamamoto Ryusei¹,Shirakata Yuki¹

Affiliation:

1. Department of Intelligence and Informatics, Konan University, 8-9-1 Okamoto, Higashinada-ku, Kobe, Hyogo 658-8501, Japan

Abstract

This paper describes a study of the simple system integration of a mobile robot in the Nakanoshima Robot Challenge 2022. To improve the operability of the robot at the start of its journey, we studied the solution to the problem of initial localization during the experimental run and the setting of virtual obstacles on the map to be used by the mobile robot. This method reduces the amount of time and manual operation required to estimate the initial position and orientation of a mobile robot in mobile robot experiments. In this study, a mobile robot is implemented using open-source products such as robot operating system (ROS) and i-Cart mini. Experimental runs in the Extra Challenge of the Nakanoshima Robot Challenge 2022 demonstrate the feasibility of the method.

Funder

Japan Society for the Promotion of Science

Japan Science and Technology Agency

Ministry of Education, Culture, Sports, Science and Technology

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

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