Autonomous Mobile Robot and 3D Mobile Mapping Applied to its Technology

Abstract

This paper describes our work on an autonomous mobile robot developed through the Tsukuba Challenge. The autonomous mobile robot uses mobile 3D measurement technology to generate an environmental map and adds information to the map for position estimation and path planning. Specifically, this report provides an overview of the autonomous mobile robot, its hardware configuration, environmental map generation method, path graph creation, path planning, and location estimation.