2A1-D01 車輪型移動ロボットのための斜面を含む三次元空間における自律走行法の開発(車輪移動ロボット・メカトロニクス)

概要

論文の詳細を見る
We have been developed an autonomous running method for a wheel mobile robot in an uncertain 3D world including a slope plane. The developed new robot is an autonomous type which is able to run on two wheels and mount an ultrasonic sensor and a PSD (Position Sensitive Detector)sensor, but without a visual sensor. And, this robot can be identified its self-position with a dead reckoning by wheels. Then, the recognition and the running method for an uncertain slope plane with ultrasonic sensor without run off the slope by recognizing for a step of slope edge with the PSD sensor was developed. Therefore, the path-planning algorithm to direct the robot to a goal while avoiding obstacle in an uncertain world including a slope plane could be developed.
一般社団法人日本機械学会の論文
2007-05-11