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JRM Vol.35 No.6 pp. 1532-1539
doi: 10.20965/jrm.2023.p1532
(2023)

Development Report:

Simplified System Integration of Robust Mobile Robot for Initial Pose Estimation for the Nakanoshima Robot Challenge

Tomohiro Umetani ORCID Icon, Seo Takeda, Ryusei Yamamoto, and Yuki Shirakata

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

Received:
June 26, 2023
Accepted:
September 26, 2023
Published:
December 20, 2023
Keywords:
mobile robot, mobile robot challenge, initial localization, expansion resetting, system integration
Abstract

This paper describes a study of the simple system integration of a mobile robot in the Nakanoshima Robot Challenge 2022. To improve the operability of the robot at the start of its journey, we studied the solution to the problem of initial localization during the experimental run and the setting of virtual obstacles on the map to be used by the mobile robot. This method reduces the amount of time and manual operation required to estimate the initial position and orientation of a mobile robot in mobile robot experiments. In this study, a mobile robot is implemented using open-source products such as robot operating system (ROS) and i-Cart mini. Experimental runs in the Extra Challenge of the Nakanoshima Robot Challenge 2022 demonstrate the feasibility of the method.

Map with virtual obstacle data for navigation

Map with virtual obstacle data for navigation

Cite this article as:
T. Umetani, S. Takeda, R. Yamamoto, and Y. Shirakata, “Simplified System Integration of Robust Mobile Robot for Initial Pose Estimation for the Nakanoshima Robot Challenge,” J. Robot. Mechatron., Vol.35 No.6, pp. 1532-1539, 2023.
Data files:
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