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

IF 0.9 Q4 ROBOTICS

Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI:10.20965/jrm.2023.p1532

Tomohiro Umetani, Seo Takeda, Ryusei Yamamoto, Yuki Shirakata

引用次数: 0

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.

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用于中之岛机器人挑战赛初始姿态估计的鲁棒移动机器人简化系统集成

本文介绍了在 "中之岛机器人挑战赛2022 "中对移动机器人的简单系统集成进行的研究。为了提高机器人在旅程开始时的可操作性，我们研究了实验运行过程中初始定位问题的解决方案，以及在地图上设置虚拟障碍物供移动机器人使用的方法。这种方法减少了移动机器人实验中估计移动机器人初始位置和方向所需的时间和人工操作。本研究使用机器人操作系统（ROS）和 i-Cart mini 等开源产品实现了移动机器人。在 2022 年中之岛机器人挑战赛额外挑战中的实验运行证明了该方法的可行性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Robotics and Mechatronics ROBOTICS-

CiteScore

2.20

自引率

36.40%

发文量

134

期刊介绍： First published in 1989, the Journal of Robotics and Mechatronics (JRM) has the longest publication history in the world in this field, publishing a total of over 2,000 works exclusively on robotics and mechatronics from the first number. The Journal publishes academic papers, development reports, reviews, letters, notes, and discussions. The JRM is a peer-reviewed journal in fields such as robotics, mechatronics, automation, and system integration. Its editorial board includes wellestablished researchers and engineers in the field from the world over. The scope of the journal includes any and all topics on robotics and mechatronics. As a key technology in robotics and mechatronics, it includes actuator design, motion control, sensor design, sensor fusion, sensor networks, robot vision, audition, mechanism design, robot kinematics and dynamics, mobile robot, path planning, navigation, SLAM, robot hand, manipulator, nano/micro robot, humanoid, service and home robots, universal design, middleware, human-robot interaction, human interface, networked robotics, telerobotics, ubiquitous robot, learning, and intelligence. The scope also includes applications of robotics and automation, and system integrations in the fields of manufacturing, construction, underwater, space, agriculture, sustainability, energy conservation, ecology, rescue, hazardous environments, safety and security, dependability, medical, and welfare.