Rapid Development of Mobile Service Robot in Public Space for Robotics Challenge Experiments

摘要

This paper describes a method for simplified implementation of the mobile service robot for intelligent environments based on open-source products for the Nakanoshima Robot Challenge 2023, that is an open collaborative experiment in Osaka City, Japan. We focus on construction of a reproducible robot system using open source hard-ware whose specifications are publicly available, and development of functions to make the mobile robot easier to handle. In this paper, a mobile robot is implemented using open source products such as Robot Operating System (ROS) and i-Cart mini. We show the feasibility of the method by conducting system integration and open experiments.