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

IF 0.9 Q4 ROBOTICS

Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI:10.20965/jrm.2023.p1540

Shunya Hara, T. Shimizu, Masayoshi Ozawa, Masahiko Sakai, T. Oyama, Amar Julien Samuel

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引用次数: 0

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.

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Navit(oo)n：中之岛机器人挑战赛开源移动机器人项目

最近，有关室外步行区自主移动机器人的立法不断推进，导致人们对运输和清洁等任务自动化的期望越来越高。在公园等车辆无法进入的室外环境中，存在许多三维地形，如楼梯和倾斜表面，这给实现准确的环境识别和自主移动带来了困难。此外，在人行道上行走的机器人必须比汽车更小巧、更轻便，还必须有一个坚固耐用的系统，能够穿越台阶和凹凸不平的路面，并能抵御雨水天气。目前，专为铺设好的道路而设计的机器人已经上市，但能够在公园人行道上行走的机器人仍处于研发阶段。因此，为了加快户外自主移动机器人的研发，本研究提出了专为户外环境设计的 Navit(oo)n 平台。该机器人可使用容易获得的部件制造，所有 CAD 数据、电路设计数据和自主移动软件均以开源方式提供。本文介绍了 Navit(oo)n 的概况，它在最近的中之岛机器人挑战赛中成功完成了课程并完成了所有任务。

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.