Building the autonomous mobile robot to navigate in the various real environment

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In this research, we aimed to research and develop the autonomous mobile robot which can navigate in the various real environment in the city. The robot should cope with the people walking the street, and realize the ability to reach to the destination while keeping the safety.For this purpose, we designed and developed a real mobile robot system to verify the developed methodology, and, researched on the1. The architecture to build the mobile robot, and the basic method of control.2. Map making by the robot using the sensor information got by the robot itself.3. Coordination of the control of sensor reflective motion and pre-planned motionAs the important results of this research term, we have to emphasis the development of small size scanning laser range sensor which is the product of the collaboration with the company. We took an important part in defining the user interface commands. This sensor is named SOKUIKI sensor by us and now used widely not only in Japan but also in the world for the mobile robots for the environment recognition to avoid obstacles or to know its own position.Another important result is the organization and steering of Tsukuba Challenge, which is the open challenge event to test the ability of the mobile robot in the real world We defined the 1km route in Tsukuba city pedestrian street. Fortunately, two robots from our group could complete 11km autonomous travel by our own designed autonomous mobile robots.