Title :
Development of JAUS compliant autonomous robot platform
Author :
Ueno, Kentaro ; Kazuyuki, Kobayashi ; Watanabe, Kajiro ; Takahashi, Kazunari ; Amano, Ryosuke ; Moriyama, Naruhito
Author_Institution :
Department of Electrical and Electronics Engineering, Faculty of Science and Engineering, Hosei University, 3-7-2 Kajinocho Koganei Tokyo 184-8584, Japan
Abstract :
This paper describes JAUS compliant mobile robot platform for rapid movement that is suitable for Intelligent Ground Vehicle Competition (IGVC) rule. According to rule change from IGVC 2011, maximum speed of mobile robot is changed from12.8 km/h to 16.1 km/h. In order to perform rapid movement, we built mobile robot from scratch instead of use of electric wheelchair based controller. Employment of JAUS enables rapid prototyping as well as reduces life cycle costs for developing mobile robot. Developed JAUS compliant mobile robot is consisting on two brush motors and serial controlled motor controller. In order to control mobile robot, we investigate characteristics of developed mobile robot platform. Effectiveness of proposed platform for rapid movement is confirmed by actual outdoor experiment.
Keywords :
DC motors; Land vehicles; Mobile robots; Turning; Wheels; JAUS; mobile robot;
Conference_Titel :
SICE Annual Conference (SICE), 2013 Proceedings of
Conference_Location :
Nagoya, Japan
