JRM Vol.28 No.4 pp. 461-469
doi: 10.20965/jrm.2016.p0461


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

Tomoyoshi Eda, Tadahiro Hasegawa, Shingo Nakamura, and Shin’ichi Yuta

Shibaura Institute of Technology
3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan

March 10, 2016
May 30, 2016
August 20, 2016
autonomous mobile robot, Tsukuba Challenge 2015, map matching, wheel odometry, downhill simplex method

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

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.

Cite this article as:
T. Eda, T. Hasegawa, S. Nakamura, and S. Yuta, “Development of Autonomous Mobile Robot “MML-05” Based on i-Cart Mini for Tsukuba Challenge 2015,” J. Robot. Mechatron., Vol.28, No.4, pp. 461-469, 2016.
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Last updated on Nov. 12, 2018