Development of Autonomous Mobile Field Robot – Accuracy Verification of Self-Localization through Simulation -

In recent years, the increase in marine debris has become a significant challenge in terms of its collection.Costal debris, a type of marine debris, can be collected by human hands, but the variety in shapes, and sizes presents limitations to human-only collection efforts.To address this, I focused on developing an autonomous mobile robot, establishing a simulation environment was considered crucial for facilitating smooth progress.This paper focuses on self-localization, an essential aspect for autonomous movement.We replicated an actual coastal cleaning site within the simulation environment and evaluated the accuracy of self-localization using an EKF (Extended Kalman Filter) with multiple sensors.