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JRM Vol.32 No.6 pp. 1173-1182
doi: 10.20965/jrm.2020.p1173
(2020)

Paper:

Autonomous Mobile Robot for Outdoor Slope Using 2D LiDAR with Uniaxial Gimbal Mechanism

Shunya Hara*, Toshihiko Shimizu*, Masanori Konishi*, Ryotaro Yamamura*, and Shuhei Ikemoto**

*Kobe City College of Technology
8-3 Gakuen-Higashimachi, Nishi-ku, Kobe 651-2194, Japan

**Graduate School of Life Science and Systems Engineering, Kyusyu Institute of Technology
2-4 Hibikino, Wakamatsu, Kitakyushu, Fukuoka 808-0196, Japan

Received:
May 15, 2020
Accepted:
October 19, 2020
Published:
December 20, 2020
Keywords:
mobile robot, LiDAR, SLAM, uniaxial gimbal mechanism, slope
Abstract
Autonomous Mobile Robot for Outdoor Slope Using 2D LiDAR with Uniaxial Gimbal Mechanism

Uniaxial gimbal mechanism for slope

The Nakanoshima Challenge is a contest for developing sophisticated navigation systems of robots for collecting garbage in outdoor public spaces. In this study, a robot named Navit(oo)n is designed, and its performance in public spaces such as city parks is evaluated. Navit(oo)n contains two 2D LiDAR scanners with uniaxial gimbal mechanism, improving self-localization robustness on a slope. The gimbal mechanism adjusts the angle of the LiDAR scanner, preventing erroneous ground detection. We evaluate the navigation performance of Navit(oo)n in the Nakanoshima and its Extra Challenges.

Cite this article as:
Shunya Hara, Toshihiko Shimizu, Masanori Konishi, Ryotaro Yamamura, and Shuhei Ikemoto, “Autonomous Mobile Robot for Outdoor Slope Using 2D LiDAR with Uniaxial Gimbal Mechanism,” J. Robot. Mechatron., Vol.32, No.6, pp. 1173-1182, 2020.
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