Development of an autonomous inverted pendulum mobile robot for outdoor environment

This paper describes our work on the development of an outdoor mobile robot, designed for participation in the Real World Robot Challenge contest (Tsukuba Challenge). The robot consists of a mobile robotic platform (Segway RMP) and several sensors to estimate global position of the robot and detect its surroundings. We describe here the hardware structure of the developed robot and the methods and algorithms used in the implementation of the sensing and control system.