Development of autonomous mobile robot “MML-05” based on i-Cart mini for Tsukuba challenge 2015

This paper describes a self-localization method for autonomous mobile robots entered in the Tsukuba Challenge 2015. One of the important issues in autonomous mobile robots is accurately estimating selflocalization. An occupancy grid map, created manually before self-localization has typically been utilized to estimate the self-localization of autonomous mobile robots. However, it is difficult to create an accurate map of complex courses. We created an occupancy grid map combining local grid maps built using a leaser range finder (LRF) and wheel odometry. In addition, the self-localization of a mobile robot was calculated by integrating self-localization estimated by a map and matching it to wheel odometry information. The experimental results in the final run of the Tsukuba Challenge 2015 showed that the mobile robot traveled autonomously until the 600 m point of the course, where the occupancy grid map ended.