ROS-RTM連携による移動ロボットの自己位置推定システム

抄録

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.