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

被引：5
|
作者：
Hara, Shunya [1 ]
Shimizu, Toshihiko [1 ]
Konishi, Masanori [1 ]
Yamamura, Ryotaro [1 ]
Ikemoto, Shuhei [2 ]
机构：
[1] Kobe City Coll Technol, Nishi Ku, 8-3 Gakuen Higashimachi, Kobe, Hyogo 6512194, Japan
[2] Kyusyu Inst Technol, Grad Sch Life Sci & Syst Engn, 2-4 Hibikino, Kitakyushu, Fukuoka 8080196, Japan
来源：
JOURNAL OF ROBOTICS AND MECHATRONICS | 2020年 / 32卷 / 06期
关键词：
mobile robot; LiDAR; SLAM; uniaxial gimbal mechanism; slope; GRIPPER;
D O I：
10.20965/jrm.2020.p1173
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：1173 / 1182
页数：10
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