2A2-E12 つくばチャレンジ2009の参加を目的とした屋外自律移動ロボットの開発

抄録

This paper describes the development of autonomous mobile robot technology for "Real World Robot Challenge 2009". The required function to complete the course in common outdoor environment is that, robot can return to the course from anywhere. We developed high accuracy position estimation method by using of Extended Kalman Filter, and the navigation method which have toughness against position estimation error. As the result, the robot completed the course several times in test runs.