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

页码：1173 / 1182

页数：10

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