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
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.
Autonomous mobile robots entered in the Tsukuba Challenge 2015

Autonomous mobile robots entered in the Tsukuba Challenge 2015

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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