In order to enable an autonomous mobile robot to travel over rough terrain, it necessitates the capability to detect self-position accurately even when the odometry errors are increased in traveling. The conventional method can keep high speed and precise localization using iterative closest point algorithms or feature matching techniques.However, effects of steep changes of a mobile robot position are not considered when it travels over rough terrain. In this article, we propose the method for efficient realtime 6D pose tracking using a rotating 2D laser scanner in traveling over rough terrain.For adaptation to steep changes of the position, weighted point clouds are generated based on the angular and the linear velocity measured by sensors mounted on the robot. And the position and posture of the robot are sequentially optimized by the scan matching in increments of 10 scans. In indoor experiments, we evaluated accuracy of our method when the robot passes on rugged floor. As a result, our method was performed with less than 0.078 m RMS positional error in real time. K E Y W O R D Slaser range finder, odometry, scan matching 14

A conventional floor polishing mobile vehicle or robot that has a rotary brush should be fairly large in body size and heavy in weight to prevent unnecessary movement caused by friction between a rotating brush and a floor. When those robots having larger weight are used to sweep or polish a floor, accidental collisions may damage office fixtures in a room. From this point of view, a light weight polishing robot is preferable. To satisfy this demand, the floor polishing robot using a rotary brush polisher was developed. But it has danger to roll up an obstacle. This paper shows a new control scheme for the floor polishing robot, which has two rotary brush polishers. This omnidirectional mobile robot requires no driving for locomotion and steering because frictions between a floor and rotating brushes is used as the driving force. We examined for a theory to control this robot by non-interference PID control, and clarified the effectiveness by experiments.

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