自律移動ロボットにおける自己位置破綻検出の検討

抄録

A detection method of a self-localization failure was investigated to restore an autonomous mobile robot which failed its self-localization, stopped and failed in autonomous traveling. Therefore, we proposed 3 kinds of a detection method to detect a self-localization failure. The experimental results using the autonomous mobile robot that entered in Tsukuba Challenge 2019 showed that the proposed detection method succeeded in detecting a self-localization failure. In addition, we compared with 3 detection method and verified the most appropriate method to detect a self-localization failure. The self-localization failure detection method can apply to an autonomous mobile robot without changing the configuration of the autonomous traveling system and adding sensors. The detection method is useful to improve the robustness for an autonomous mobile robot.