ジンバル機構搭載2D LiDARと地図切替え機能を用いた屋外傾斜面対応の自律移動ロボット

抄録

The Nakanoshima Challenge is a contest for developing sophisticated navigation systems of robots for collecting garbage in outdoor public spaces. In this study, a robot named Navit(oo)n is designed, and its performance is in public spaces such as city parks evaluated. Navit(oo)n contains two 2D LiDAR scanners with uniaxial gimbal mechanism, improving self-localization robustness on a slope. The gimbal mechanism adjusts the angle of the LiDAR scanner, preventing erroneous ground detection. We evaluate the navigation performance of Navit(oo)n in the Nakanoshima and its Extra Challenges. We evaluate the navigation performance of Navit(oo)n in the Nakanoshima and its Extra Challenges. We also impremented the loop-closure method based on the map switching.