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JRM Vol.35 No.6 pp. 1540-1549
doi: 10.20965/jrm.2023.p1540
(2023)

Development Report:

Navit(oo)n: Open Source Mobile Robot Project for Nakanoshima Robot Challenge

Shunya Hara, Toshihiko Shimizu, Masayoshi Ozawa, Masahiko Sakai, Tadahiro Oyama, and Amar Julien Samuel

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

Received:
July 3, 2023
Accepted:
October 31, 2023
Published:
December 20, 2023
Keywords:
outdoor autonomous mobile robot, open-source software, ROS, navigation
Abstract

Recently, the legislation regarding autonomous mobile robots for outdoor pedestrian areas have been advancing, leading to increased expectations for task automation such as transportation and cleaning. Outdoor environments like parks, where vehicles cannot enter, present many three-dimensional terrains such as stairs and inclined surfaces, causing difficulty in achieving accurate environment recognition and autonomous movement. Furthermore, robots that navigate pedestrian walkways must be smaller and lighter than cars and also have a robust system capable of traversing steps and uneven surfaces and withstanding rainy weather. Currently, robots designed for paved roads are commercially available; however, robots capable of navigating park walkways are still in the research and development stage. Therefore, to accelerate the research and development of outdoor autonomous mobile robots, this study proposes the Navit(oo)n platform, designed for use in outdoor environments. This robot can be manufactured using easily obtainable parts, and all CAD data, circuit design data, and autonomous movement software are provided as open source. This paper introduces an overview of Navit(oo)n that successfully completed the course and achieved all tasks in the recent Nakanoshima Robot Challenge.

“Navit(oo)n” universal platform

“Navit(oo)n” universal platform

Cite this article as:
S. Hara, T. Shimizu, M. Ozawa, M. Sakai, T. Oyama, and A. Samuel, “Navit(oo)n: Open Source Mobile Robot Project for Nakanoshima Robot Challenge,” J. Robot. Mechatron., Vol.35 No.6, pp. 1540-1549, 2023.
Data files:
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