Unitree Go2 Eduを用いた図書館サービスロボットの自律ナビゲーションシステム
Autonomous Navigation System for Library Service Robot Based on Unitree Go2 Edu
図書館内の狭い通路や動的障害物に対応するため、Unitree Go2 Edu四足ロボットにROS 2ナビゲーションシステムを構築し、実環境で高い成功率と精度を実証した。
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著者: Aoduo Li, Haoran Lv, Bingquan Ou, Jianfeng Li, Yingdong Li, Zimeng Li
分類: cs.RO
原文アブストラクト
Libraries require autonomous robots to move quietly through narrow aisles while remaining safe around readers, chairs, bags, and carts. This paper presents a ROS 2 navigation system for a Unitree Go2 Edu quadruped equipped with a 4D LiDAR, a front depth camera, and an IMU. Rather than assuming the library is rough terrain, we target the practical mobility discontinuities of real deployments, including floor transitions, temporary clutter, and partially blocked passages where low-clearance wheeled platforms are less tolerant. RTAB-Map is used for visual-LiDAR SLAM, AMCL and EKF-based sensor fusion provide localization, and a Nav2 stack with A* and DWA supports planning and local avoidance. In a real library, the system achieves 100%, 96%, and 88% success rates in static, low-density dynamic, and high-density dynamic scenes, while map validation against surveyed control distances yields a mean metric error of 3.7 cm.
