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

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 LiDA...

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Bibliographic Details
Published in:	Journal of robotics and mechatronics Vol. 32; no. 6; pp. 1173 - 1182
Main Authors:	Hara, Shunya, Shimizu, Toshihiko, Konishi, Masanori, Yamamura, Ryotaro, Ikemoto, Shuhei
Format:	Journal Article
Language:	English
Published:	Tokyo Fuji Technology Press Co. Ltd 01-12-2020
Subjects:	Garbage Lidar Navigation systems Performance evaluation Public spaces Robots Scanners
Online Access:	Get full text
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Summary:	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.
ISSN:	0915-3942 1883-8049
DOI:	10.20965/jrm.2020.p1173