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JRM Vol.35 No.2 pp. 380-386
doi: 10.20965/jrm.2023.p0380
(2023)

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Initial Localization of Mobile Robot Based on Expansion Resetting Without Manual Pose Adjustment in Robot Challenge Experiment

Seo Takeda* and Tomohiro Umetani** ORCID Icon

*Graduate School of Natural Science, Konan University
8-9-1 Okamoto, Higashinada, Kobe, Hyogo 658-8501, Japan

**Department of Intelligence and Informatics, Konan University
8-9-1 Okamoto, Higashinada, Kobe, Hyogo 658-8501, Japan

Received:
October 21, 2022
Accepted:
February 4, 2023
Published:
April 20, 2023
Creative Commons License
Keywords:
mobile robot, mobile robot challenge, initial localization, expansion resetting, robot operating system (ROS)
Abstract

This study proposes a method for estimating the initial position of a mobile robot during a mobile robot experiment using expansion resetting. Depending on the type of sensor attached to the robot and the robot position and orientation estimation method, many operations may be required to estimate the initial position of the robot during an experimental run. The proposed method reduces the time and manual operations required to estimate the initial position and orientation of a mobile robot. The implementation of the method and its experimental results demonstrated the feasibility and effectiveness of the procedure.

System configuration in robot challenge experiment

System configuration in robot challenge experiment

Cite this article as:
S. Takeda and T. Umetani, “Initial Localization of Mobile Robot Based on Expansion Resetting Without Manual Pose Adjustment in Robot Challenge Experiment,” J. Robot. Mechatron., Vol.35 No.2, pp. 380-386, 2023.
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