JRM Vol.19 No.4 pp. 489-496
doi: 10.20965/jrm.2007.p0489

Development Report:

Navigation of Autonomous Mobile Cleaning Robot SuiPPi

Tatsuo Sakai, Daisuke Nishimura, Hiroyuki Uematsu,
Ryosuke Murai, Koichi Mitani, Tomoharu Nakahara,
and Yukihiko Kitano

Matsushita Electric Works, Ltd., 1048 Kadoma, Osaka 571-8686, Japan

October 18, 2006
May 15, 2007
August 20, 2007
autonomous, navigation, localization, cleaning robot

SuiPPi is a practical robot that underwent long-term experimental evaluation at Expo 2005. SuiPPi’s mission was to clean the Expo site, for example, the Global Loop main pedestrian loop. The Global Loop is about 2.6 km long, and 21 m wide, and has many curves and slopes and obstacles such as benches and vending machines. To execute its mission, SuiPPi had to solve two problems, – (1) moving autonomously over long distances around the loop to cleaning areas, and (2) cleaning areas not necessarily rectangular. SuiPPi navigation solved these problems by recognizing and adapting to the environment. The effectiveness of SuiPPi was confirmed.

Cite this article as:
Tatsuo Sakai, Daisuke Nishimura, Hiroyuki Uematsu,
Ryosuke Murai, Koichi Mitani, Tomoharu Nakahara, and
and Yukihiko Kitano, “Navigation of Autonomous Mobile Cleaning Robot SuiPPi,” J. Robot. Mechatron., Vol.19, No.4, pp. 489-496, 2007.
Data files:
  1. [1] W. Burgard, P. Trahanias, D. Hahnel, M. Moors, D. Schulz, H. Baltzakis, and A. Argyros, “TOURBOT and WebFAIR: Web-Operated Mobile Robots for Tele-Presence in Populated Exhibitions,” Proc. of the IEEE/RSJ IROS 2002, Workshop on Robots in Exhibitions, 2002.
  2. [2] J. Pineau, M. Montemerlo, M. Pollack, N. Roy, and S. Thrun, “Towards Robotic Assistants in Nursing Homes: Challenges and Results,” Robotics and Autonomous Systems 42, pp. 271-281, 2003.
  3. [3] T. Sakai, “ ‘SuiPPi’ Outdoor Autonomous Cleaning Robot,” Text of the 30th Robotics Seminar of the Robotics Society of Japan, pp. 46-54, 2005 (in Japanese).
  4. [4] T. Sakai and M. Matsuda, “Development of the ‘HOSPI’ Autonomous Transfer Robot,” J. of Japan Robot Association, No.157, pp. 30-35, 2004 (in Japanese).
  5. [5] J. Meguro, R. Hirokawa, J. Takiguchi, and T. Hashizume, “Autonomous Mobile Surveillance Based on RTK-GPS in Urban Canyons,” Journal of Robotics and Mechatronics, Vol.17, No.2, pp. 218-225, 2005.
  6. [6] K. Ohno, T. Tsubouchi, B. Shigematsu, S. Maeyama, and S. Yuta, “Outdoor Navigation of a Mobile Robot between Buildings based on DGPS and Odometry Data Fusion,” IEEE international Conf. on Robotics and Automation (ICRA), 2003.
  7. [7] A. Siadat, A. Kaske, S. Klausmann, M. Dufaut, and R. Husson, “An Optimized Segmentation Method for a 2D Laser-Scanner Applied to Mobile Robot Navigation,” Proc. of the 3rd IFAC Symposium on Intelligent Components and Instruments for Control Application, 1997.
  8. [8] T. Sakai, “Environmental Adaptive Navigation of SuiPPi,” Proc. of 36th International Symposium on Robotics, pp. 156-157, 2005.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Mar. 05, 2021