2A2-F09 Development of the autonomous mobile robot at the RWRC 2008 : The system composition and the navigation strategy of HOIST2
Kunihiro Yasuda, Tetsuo Tomizawa, Kiyoshi Matsuo, Hirohiko Kawata, Jae Hoon Lee, Yasushi SUMI, Kohtaro Ohba · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2009
Our purpose is to develop a mobile robot which runs autonomous at the real world. The targeted environment is a public pedestrian, where there are many people and obstacles such as bicycles, trees, streetlamps and etc. We converted an electric cart and developed a mobile robot HOIST2, which can run autonomous by the navigation system. This paper describes the hardware system composition and the navigation strategy of HOIST2. The hardware system composes of steering control unit, wheel encoders and some sensors such as SOKUIKI sensor, GPS and etc. The navigation system consists of localization, following reference path and an obstacle avoidance method. In finally, we entered the RWRC 2008 and carried out the experiment of autonomous running the 1km course at the real environment. And we indicate the experimental result and conclusion.