ROS-RTM連携による移動ロボットの自己位置推定システム

勢〆 義章; 金子 智紘; 加藤 宏一朗; 松日楽 信人

doi:10.1299/jsmermd.2021.1P2-D06

2021

Session ID : 1P2-D06

DOI https://doi.org/10.1299/jsmermd.2021.1P2-D06

Conference information

Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : June 06, 2021 - June 08, 2021

Self-Positioning System for Mobile Robots Using ROS-RTM Collaboration

*Yoshiaki SESHIME, Tomohiro KANEKO, Koichiro KATO, Nobuto MATSUHIRA

Author information

Keywords: Autonomous mobile robot, Path planning and generation, System coordination, RTM, ROS

CONFERENCE PROCEEDINGS RESTRICTED ACCESS

Details

Abstract

With the increasing focus on service robots due to the labor shortage, we propose a flexible mobility control system by combining Node-RED as the upper system and ROS and RTM as the robot mobility control. In addition, we use odometry as a countermeasure against wandering in SLAM and AR marker tracking by RTM to correct the path. In the experiments, the validity of the proposed method was confirmed.

Corresponding author

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