Development of Mobile Robot to Accomplish Task in Actual Environments

Abstract

In Tsukuba Challenge 2013, every robot had to navigate on a given path and detect specific persons wearing showy color clothes. There are many ideal functions for achieving the mission. It is, however, difficult to implement all ideal functions since complex algorithms are required. This paper, therefore, considers simplified functions for achieving the mission even if complex algorithms are not implemented. Our robot can run long distance by using a unique localization method which uses both of magnetic and geometric landmarks. Moreover, it can detect the target based on a color extraction method. These abilities enable the robot to exactly work the simple functions. Through the experiments, it is shown that our robot can exactly achieve the given mission by using only the simplified functions.