30 巻 (2012) 3 号 p. 245-252
This paper presents the development of autonomous mobile robot called “Orange 2010” that is designed for participating both Intelligent Ground Vehicle Competition 2010 and Tsukuba Challenge 2010. In order to adopt both competition and challenge rules, we newly build mobile robot based on electric wheelchair. The combination of omnidirectional camera and laser range scanner enables superior environment recognition especially at outdoor environment. Three different path planning algorithms are developed by using MATLAB language for each competition at IGVC2010 and Tsukuba Challenge 2010. Validity of a control software program developed for each challenge is examined by actual competitions.