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
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.
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